65142e PDF
65142e PDF
March 1995
GFL-001
Caution
Caution notices are used where equipment might be damaged if care is not taken.
Note
Notes merely call attention to information that is especially significant to understanding and
operating the equipment.
This document is based on information available at the time of its publication. While efforts
have been made to be accurate, the information contained herein does not purport to cover all
details or variations in hardware or software, nor to provide for every possible contingency in
connection with installation, operation, or maintenance. Features may be described herein
which are not present in all hardware and software systems. GE Fanuc Automation assumes
no obligation of notice to holders of this document with respect to changes subsequently made.
GE Fanuc Automation makes no representation or warranty, expressed, implied, or statutory
with respect to, and assumes no responsibility for the accuracy, completeness, sufficiency, or
usefulness of the information contained herein. No warranties of merchantability or fitness for
purpose shall apply.
PREFACE
B65142E/02
PREFACE
B65142E/02
Related manuals
The following six kinds of manuals are available for FANUC CONTROL
MOTOR series. In the table, this manual is marked with an asterisk (*).
Document name
Document
number
Major contents
B65142E
Specification
Characteristics
External dimensions
Connections
B65152E
Specification
Characteristics
External dimensions
Connections
Major usage
*
Selection of motor
Connection of motor
Specifications and
functions
Installation
External dimensions and
maintenance area
Connections
Selection of
amplifier
Connection of
amplifier
B65165E
Start up procedure
Troubleshooting
Maintenance of motor
B65150E
Initial setting
Setting parameters
Description of parameters
B65160E
Initial setting
Setting parameters
Description of parameters
Table of Contents
B65142E/02
PREFACE
I. DESCRIPTIONS FOR THE series
1. GENERAL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
2. PRECAUTIONS ON USE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
2.1
2.2
2.3
2.4
2.5
2.6
APPLICABLE AMPLIFIERS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
INSTALLATION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
COUPLING . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
AXIS LOAD . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
ENVIRONMENT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
ACCEPTANCE AND STORAGE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
3. INSTRUCTIONS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
3.1
3.2
4. SELECTING A MOTOR . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
4.1
4.2
4.3
4.4
4.1.2
4.1.3
4.1.4
Calculating the Percentage Duty Cycle with the Maximum Cutting Torque . . . . . . . . . . . . . . . . . . . . . . . . 31
4.3.2
Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
Performance Curves . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
4.4.2
Data Sheet . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
4.4.3
5.2
5.3
APPLICABLE MOTORS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
5.1.1
5.1.2
DRIVES . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
5.2.1
5.2.2
Model 0.5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52
5.3.2
Models 1 and 2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52
5.3.3
c1
TABLE OF CONTENTS
5.4
B65142E/02
APPROVED SPECIFICATIONS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
5.4.1
5.4.2
5.4.3
5.4.4
5.4.5
5.4.6
55
55
55
56
56
56
6. FEEDBACK DETECTOR . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
6.1
6.2
6.3
6.4
6.5
6.6
BUILTIN DETECTOR . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
PULSE CODER RESOLUTION AND CONTROL RESOLUTION . . . . . . . . . . . . . . . . . . . . . . . . . .
ABSOLUTETYPE PULSE CODER . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
SEPARATE TYPE POSITION DETECTOR . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
DETECTOR INPUT/OUTPUT SIGNALS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
SIGNALS INPUT/OUTPUT FROM SEPARATETYPE DETECTOR . . . . . . . . . . . . . . . . . . . . . . .
58
59
60
61
64
65
7. BUILTIN BRAKE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66
7.1
7.2
BRAKE SPECIFICATIONS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
CONNECTION OF THE BRAKES . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
8. CONNECTORS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71
8.1
8.2
8.3
B65142E/02
TABLE OF CONTENTS
134
136
142
149
156
157
162
169
176
177
181
186
192
193
199
204
B65142E/02
1. GENERAL
GENERAL
The FANUC AC servo motor series has been designed for machine tool
feed axis applications. This servo motor series has the following
features:
Smooth rotation
The special magnetic pole shape minimizes torque ripples which, when
combined with precise current control and accurate pulse coder feedback,
enables extremely smooth motor rotation.
Excellent acceleration
The use of a special rotor shape results in motors that are smaller and
lighter than previous models, but which can develop a high level of
torque. These motors, therefore, provide excellent acceleration
characteristics.
High reliability
Builtin, highprecision
detector
2. PRECAUTIONS ON USE
PRECAUTIONS ON USE
B65142E/02
B65142E/02
2.1
APPLICABLE
AMPLIFIERS
2. PRECAUTIONS ON USE
Motor
model
0.5/3000
1/3000
2/2000
2/3000
Specification
Connection
axis
SVM112
A066079H101
SVM212/12
SVM212/20
SVM212/40
A06B6079H201
A06B6079H202
A06B6079H204
L and M axes
L axis
L axis
SVM312/12/12
A06B6079H301
A06B6080H301 (Note 3)
A06B6079H302
A06B6080H302 (Note 3)
A06B6079H303
A06B6080H303 (Note 3)
A06B6079H305
A06B6080H305 (Note 3)
A06B6079H306
A06B6080H306 (Note 3)
L, M and N
axes
L and M axes
SVM312/12/20
SVM312/20/20
SVM312/12/40
SVM312/20/40
SVU112
A06B6089H101
SVU212/12
SVU212/20
SVU212/40
A06B6089H201
A06B6089H202
A06B6089H204
C3/2000
SVM120
C6/2000
C12/2000 SVM212/20
SVM220/20
SVM220/40
A06B6079H102
SVM312/12/20
SVM312/20/20
SVM320/20/20
SVM312/20/40
SVM320/20/40
L and M axes
L axis
L and M axes
L axis
L axis
A06B6079H202
A06B6079H203
A06B6079H205
M axis
L and M axes
L axis
A06B6079H302
A06B6080H302 (Note 3)
A06B6079H303
A06B6080H303 (Note 3)
A06B6079H304
A06B6080H304 (Note 3)
A06B6079H306
A06B6080H306 (Note 3)
A06B6079H307
A06B6080H307 (Note 3)
N axis
SVU120
A06B6089H102
SVU212/20
SVU220/20
SVU220/40
A06B6089H202
A06B6089H203
A06B6089H205
L axis
M and N axes
L, M and N
axes
M axis
L and M axes
M axis
L and M axes
L axis
2. PRECAUTIONS ON USE
Motor
model
3/3000
6/2000
M3/3000
L3/3000
Specification
Connection
axis
SVM140S
SVM140L
A06B6079H103
A06B6079H104
SVM212/40
SVM220/40
SVM240/40
SVM240/80
SVM240L/40L
A06B6079H204
A06B6079H205
A06B6079H206
A06B6079H207
A06B6079H209
M axis
M axis
L and M axes
L axis
L and M axes
SVM312/12/40
A06B6079H305
A06B6080H305 (Note 3)
A06B6079H306
A06B6080H306 (Note 3)
A06B6079H307
A06B6080H307 (Note 3)
N axis
SVM312/20/40
SVM320/20/40
SVU140
A06B6089H104
SVU212/40
SVU220/40
SVU240/40
SVU240/80
A06B6089H204
A06B6089H205
A06B6089H206
A06B6089H207
12/2000
SVM140L
C22/1500
(The SVU2 SVM212/40
is unappli- SVM220/40
SVM240/40
cable to
the C22/ SVM240/80
SVM240L/40L
1500.))
SVM312/12/40
SVM312/20/40
SVM320/20/40
22/1500
B65142E/02
N axis
M axis
M axis
L and M axes
L axis
A06B6079H104
A06B6079H204
A06B6079H205
A06B6079H206
A06B6079H207
A06B6079H209
M axis
M axis
L and M axes
L axis
L and M axes
A06B6079H305
A06B6080H305 (Note 3)
A06B6079H306
A06B6080H306 (Note 3)
A06B6079H307
A06B6080H307 (Note 3)
N axis
SVU140
A06B6089H104
SVU212/40
SVU220/40
SVU240/40
SVU240/80
A06B6089H204
A06B6089H205
A06B6089H206
A06B6089H207
SVM140L
A06B6079H104
SVM240/80
SVM240L/40L
A06B6079H207
A06B6079H209
SVU140
A06B6089H104
N axis
N axis
N axis
M axis
M axis
L and M axes
L axis
L axis
L and M axes
B65142E/02
Motor
model
6/3000
M6/3000
L6/3000
2. PRECAUTIONS ON USE
Specification
SVM180
A06B6079H105
SVM240/80
SVM280/80
A06B6079H207
A06B6079H208
SVU140
A06B6089H104
SVU240/80
SVU280/80
SVU212/80
SVU220/80
A06B6089H207
A06B6089H208
A06B6089H209
A06B6089H210
12/3000
22/2000
30/1200
M9/3000
L9/3000
SVM180
A06B6079H105
SVM240/80
SVM280/80
A06B6079H207
A06B6079H208
SVU180
A06B6089H105
30/2000
40/2000
SVM1130
A06B6079H106
SVU1130
A06B6089H106
SVM1130
A06B6079H106 (Note 4)
SVU1130
A06B6089H106 (Note 4)
22/3000
30/3000
40/2000
(with
( ith FAN)
L25/3000
L50/2000
Connection
axis
M axis
L and M axes
M axis
L and M axes
M axis
M axis
M axis
L and M axes
Notes
1. If a motor is used in a combination other than those listed
above, it will be broken, except for the C series servo
amplifier. Contact FANUC for more information.
2. For details of the series control motor amplifiers, refer to
FANUC Control Motor Amplifier series Descriptions
(B65162E).
3. The specification of the series servo amplifier modules for
three axes (SVM3) varies from one NC to another. Refer to
FANUC Control Motor Amplifier series Descriptions
(B65162E).
4. When the SVM130 is used to drive the 22/3000,
30/3000, 40/2000 (with fan), L25/3000, or L50/2000,
it must be cooled by a forced air flow. For details, refer to
FANUC Control Motor Amplifier series Descriptions
(B65162E).
2. PRECAUTIONS ON USE
2.2
INSTALLATION
B65142E/02
Secure the servo motor uniformly using four bolt holes provided on
the front flange.
When mounting on the machine, take care not to apply a shock to the
motor.
When it is unavoidable to tap the motor for adjusting the position, etc.,
use a plastic hammer and tap only the front flange if possible.
B65142E/02
2.3
COUPLING
2. PRECAUTIONS ON USE
Generally, in the case of straight shaft, use a span ring for connection
with the shaft.
In the case of tapered shaft, match the tapered surface with the power
transmission element and fix by tightening the screw at the end. When
the woodruff key is too tight, dont tap it with a hammer. Use the
woodruff key mainly for positioning, and use the tapered surface for
torque transmission. Machine the tapered surface of the power
transmission element so that over 70% of the whole surface is
contacted.
2. PRECAUTIONS ON USE
B65142E/02
10
B65142E/02
2.4
AXIS LOAD
2. PRECAUTIONS ON USE
Axial load
Front bearing
(reference)
0.5
20kg
5kg
6902
1/2
25kg
8kg
6003
3/6
3/6HV
C3/6
M3/6/9
L3/6/9
70kg
20kg
6205
12/22/30/40
12/22/30HV
C12/22
L25/50
450kg
135kg
6208
65/100/150
900kg
250kg
6312
Motor model
The above values are the reference assuming the use as a feed axis on the
typical machine tool.
The allowable radial load is the value when a load is applied to the
shaft end. It indicates the total continuous force applied to the shaft
in some methods of mounting (e.g, belt tension) and the force by load
torque (e.g., moment/pulley radius).
The belt tension is critical particularly when a timing belt is used. Too
tight belt causes breakage of the shaft or other fault.
Belt tension must be controlled so as not to exceed the limits calculated
from the permissible radial load indicated above.
In some operation conditions, the pulley diameter and the gear size
need to be checked. For example, when using the model 3 with a
pulley/gear with the radius of 2.5cm or less, the radial load at the
occurrence of 180kgcm torque will exceed 70kg. In the case of timing
belt, as the belt tension is added to this value, it is thus necessary to
support the shaft end.
The timing belt is also subject to the belt tension restrictions.
Therefore, some support is required; for example, the end of the motor
shaft should be supported mechanically.
Actually, when using a timing belt, a possible fault like a broken shaft
can be prevented by positioning the pulley as close to the bearing as
possible.
When there is a possibility of a large load, the machine tool builder
needs to examine the life by referring to the shaft diameter, bearing,
etc.
Since the standard single row deep groove ball bearing is used for the
motor bearing, a very large axial load can not be used. Particularly,
when using a worm gear and a helical gear, it is necessary to provide
another bearing.
The motor bearing is generally fixed with a C-snap ring, and there is
a small play in the axial direction. When this play influences the
positioning in the case of using a worm gear and a helical gear, for
example, it is necessary to fix it with another bearing.
11
2. PRECAUTIONS ON USE
B65142E/02
2.5
ENVIRONMENT
Ambient temperature
Vibration
When installed in a machine, the vibration applied to the motor must not
exceed 5G.
Installation height
Dripproof environment
The protection form for a single motor unit satisfies IP55 of the IEC
standards (equivalent to JP55, dustproof and jetproof type, of JIS
C40041980, code for revolving electric machines)(except the
connectors of the 0.5). (The 65 to 150 use the terminal box
specification, thus IP54 applies to these motors.) These standards,
however, refer only to shortterm performance. In actual operation, note
also the following:
Protect the motor surface from the cutting fluid or lubricant. Use a
cover when there is a possibility of wetting the motor surface. Only
the telescopic cover of the sliding part can not completely prevent
leakage of the cutting fluid. Pay attention to the drop along the
structure body, too.
12
B65142E/02
2. PRECAUTIONS ON USE
Prevent the cutting fluid from being led to the motor through the cable.
When the motor connector is used in the up position, put a drip loop
in the cable.
When the motor connector is up, the cutting fluid is collected in the
cable connector through the cable. Turn the motor connector sideways
or downward as far as possible. Most of the defects caused by the
cutting fluid have occurred in the cable connector.
The standard receptacle on the motor side is waterproof. If the cable
connector will be subjected to moisture, it is recommended that an R
class or waterproof plug be used. Suitable plugs are listed in the cable
plug combination recommendations in Chapter 8. (The standard MS
plug is not waterproof; water is liable to enter the pin section.)
13
2. PRECAUTIONS ON USE
B65142E/02
The motor shaft is sealed to prevent penetration of oil into the motor
housing. However, sealing may not be perfect under severe working
conditions. Observe the following points.
To maintain a constant sealing effect, it is necessary to replace the oil seal
regularly before its lifetime expires. The lifetime of the oil seal greatly
varies with its working environment and conditions.
When oil bath lubrication is provided for the gear engagement, for
example, the oil level must be below the lip of the shafts oil seal. Set the
oil level so that oil merely splashes the lip. Thus, as the shaft rotates, the
oil seal can repel oil. If, however, pressure is applied continuously while
the shaft is stopped, oil may penetrate the lip. When the shaft is always
immersed in oil, for example, under the condition that the motor is to be
used with the shaft oriented vertically a special design is required. For
example, another oil seal could be installed on the machine side, and a
drain provided so that oil penetrating that seal can drain off.
When grease is used for lubrication, the oil seal characteristics are usually
lost.
In either case, ensure that no pressure is applied to the oil seal lip.
0.5
9mm
1/2
15mm
3/6
3/6HV
C3/6
M3/6/9
L3/6/9
24mm
12/22/30/40
12/22/30HV
35mm
C12/22
L25/50
65/100/150
14
55mm
B65142E/02
2.6
ACCEPTANCE AND
STORAGE
2. PRECAUTIONS ON USE
15
3. INSTRUCTIONS
INSTRUCTIONS
16
B65142E/02
B65142E/02
3.1
DRIVE SHAFT
COUPLING
3. INSTRUCTIONS
There are four methods for connecting the motor shaft to the ball screw:
Direct connection through a flexible coupling
Direct connection through a rigid coupling
Connection through gears
Connection through timing belts
It is important to understand the advantages and disadvantages of each
method, and select one that is most suitable for the machine.
Direct connection by a flexible coupling has the following advantages
over connection using gears:
Even if the angle of the motor shaft to the ball screw changes, it can
be compensated to a certain extent.
Because a flexible coupling connects elements with less backlash,
driving noise from joints can be significantly suppressed.
However, this method has the following disadvantages:
The motor shaft and the ball screw must not slide from each other in
the radial direction (for single coupling).
Loose assembly may result in lower rigidity.
When the motor shaft needs to be connected directly to the ball screw,
connecting them using a flexible coupling facilitates adjustment and
installation of the motor.
To use a single coupling, the machine needs to be designed so that the
centers of the motor shaft and the ball screw are aligned.
If it is difficult to align the centers, a double coupling needs to be
employed.
Ball screw
Flexible coupling
Motor shaft
Locking element
Ball screw
Flexible coupling
Motor shaft
Locking element
17
3. INSTRUCTIONS
B65142E/02
Gears
This method is used when the motor cannot be put in line with the ball
screw because of the mechanical interference problem or when the
reduction gear is required in order to obtain large torque. The following
attention should be paid to the gear coupling method:
Grinding finish should be given to the gear, and eccentricity, pitch
error, tooth-shape deviations etc. should be reduced as much as
possible. Please use the JIS, First Class as a reference of precision.
Adjustment of backlash should be carefully performed. Generally, if
there is too little backlash, a high-pitched noise will occur during
high-speed operation, and if the backlash is too big, a drumming sound
of the tooth surfaces will occur during acceleration/deceleration.
Since these noises are sensitive to the amount of backlash, the structure
should be so that adjustment of backlash is possible at construction
time.
18
B65142E/02
3. INSTRUCTIONS
Timing belt
To use a straight shaft that has no key groove, connect the shaft with a
coupling using a span ring.
Because the span ring connects elements by the friction generated when
the screw is tightened, it is free from backlash and the concentration of
stress. For this reason, the span ring is highly reliable for connecting
elements.
To assure sufficient transmission with the span ring, factors such as the
tightening torque of the screw, the size of the screw, the number of screws,
the clamping flange, and the rigidity of connecting elements are
important. Refer to the manufacturers specifications before using the
span ring.
When a coupling or gear is mounted using the span ring, tighten the
screws to remove a run-out of the coupling or gear including the shaft.
19
3. INSTRUCTIONS
3.2
MACHINE
MOVEMENT PER 1
REVOLUTION OF
MOTOR SHAFT
B65142E/02
20
B65142E/02
4. SELECTING A MOTOR
SELECTING A MOTOR
4. SELECTING A MOTOR
4.1
CALCULATING
CONDITIONS FOR
SELECTING A
MOTOR
B65142E/02
This section describes the procedure for selecting a servo motor best
suited for a table with a horizontal axis (figure below).
Fc
fg
Sample mechanical
specifications of the
table and workpiece
fg
Fc
Fcf
Sample specifications of
the feed screw
(ball screw)
Db
Lb
P
Sample specifications of
the operation of the
motor shaft
Ta
Vm
ta
JM
JL
ks
22
B65142E/02
4. SELECTING A MOTOR
4.1.1
Calculating the Load
Torque and Load
Inertia
Calculating the load
torque
The load torque applied to the motor shaft is generally given by the
following equation:
Tm F L Tf
2
Tm : Load torque applied to the motor shaft (Nm)
F
: Traveling distance of the machine tool per revolution of the motor = P x (Z1/Z2) = 8 (mm)
4. SELECTING A MOTOR
B65142E/02
Driving force
Driving force
The feedrate may cause the friction torque to vary greatly. Obtain an
accurate value by closely examining variations in friction depending
on variations in speed, the mechanism for supporting the table (sliding
contact, rolling contact, static pressure, etc.), material of the sliding
surface, lubricating system, and other factors.
The friction torque of a single machine varies widely due to
adjustment conditions, ambient temperature, and lubrication
conditions. Collect a great amount of measurement data of identical
models so that a correct load torque can be calculated. When adjusting
the gib fastening force and backlash, monitor the friction torque.
Avoid generating an unnecessarily great torque.
Unlike the load torque, an accurate load inertia can be obtained just by
calculation. The inertia of all objects moved by the revolution of a driving
motor forms the load inertia of the motor. It does not matter whether the
object is rotated or moved along a straight line. Calculate the inertia
values of individual moving objects separately, then add the values
together, according to a rule, to obtain the load inertia. The inertia of
almost all objects can be calculated according to the following basic rules:
Inertia of a cylindrical
object (ball screw, gear,
coupling, etc.)
D (cm)
L (cm)
24
B65142E/02
4. SELECTING A MOTOR
pg
4
D L
32 980 b b (kgfcms )
: Inertia (kgfcms2)
(kgfcms)
Example)
When Db is 32 (mm) and Lb is 1000 (mm), inertia Jb of the shaft of
a ball screw is calculated as follows:
Jb = 0.7810-63.24100 = 0.0082 (kgcms2)
Inertia of a heavy object
moving along a straight
line (table, workpiece,
etc.)
J W ( L ) 2 (kgfcms)
980
2p
W : Weight of the object moving along a straight line (kg)
L
Example)
When W is 1000(kg) and L is 8(mm), Jw of a table and workpiece is
calculated as follows:
Jw = 1000/980(0.8/2/)2 = 0.0165(kgfcms2)
Inertia of an object
whose speed is
increased above or
decreased below the
speed of the motor shaft
25
4. SELECTING A MOTOR
B65142E/02
Inertia of a cylindrical
object in which the
center of rotation is
displaced
Center of rotation
J J o M R 2 (kgfcms)
980
J0 : Inertia around the center of the object (kgfcms2)
M
The above equation is used to calculate the inertia of, for example, a large
gear which is hollowed out in order to reduce the inertia and weight.
The sum of the inertia values calculated above is J (load inertia) for
accelerating the motor.
In this example, the sum of Jb and Jw obtained in above is load inertia JL.
JL = 0.0082 + 0.0165 = 0.0247 (kgfcms2)
Note
Limitations on
load inertia
The load inertia has a great effect on the controllability of the motor as
well as the time for acceleration/deceleration in rapid traverse. When the
load inertia is increased, the following two problems may occur: When
a command is changed, it takes more time for the motor to reach the speed
specified by the new command. When a machine tool is moved along two
axes at a high speed to cut an arc or curve, a larger error occurs.
When the load inertia is smaller than or equal to the rotor inertia of the
motor, those problems will not occur. When the load inertia is up to three
times the rotor inertia, the controllability may have to be lowered a little.
Actually, this will not adversely affect the operation of an ordinary metal
cutting machine. If a router for woodworking or a machine to cut a curve
at a high speed is used, it is recommended that the load inertia be smaller
than or equal to the rotor inertia.
If the load inertia much larger than three times the rotor inertia, the
controllability will be lowered significantly. If the load inertia much
larger than three times the rotor inertia, an adjustment in the normal range
may be insufficient. Avoid using a machine with such a great load inertia.
If the machine design does not allow a smaller load inertia, contact a
FANUC engineer.
26
B65142E/02
4.1.2
Calculating the
Acceleration Torque
4. SELECTING A MOTOR
Calculating acceleration
torque : Procedure 1
Assuming that the motor shaft operates ideally in the acceleration/
deceleration mode determined by the NC, calculate the acceleration.
Multiply the acceleration by the entire inertia (motor inertia + load
inertia). The product is the acceleration torque. The equation is given
below.
In linear
acceleration/deceleration
Speed
Torque
Command
Vm
Ta
Operation of
the motor
Time
ta
Speed variation
1
Ta + Vm 2
JM
ta
60
1
) Vm 2
JL
ta
60
Vr + Vm
{1
Vr
Vm
Acceleration required to
achieve the speed
(1e ks@ta)
(1e ks@ta) B
1 (1e ks@ta)}
ta @ ks
27
Speed
4. SELECTING A MOTOR
B65142E/02
Example)
Try to perform linear acceleration/deceleration under the following
condition.
When 2/3000 is used, the load inertia is calculated as follows. First
select the 2/3000 and calculate its acceleration torque. JM motor
inertia is 0.0061 (kgfcms2), Vm is 3000 (min-1), ta is 0.1 (s), ks is 30
(sec-1), and JL = 0.0247 (kgfcms2).
1
Ta + 3000 2
0.0061 (1e 30 0.1)
0.1
60
1
) 3000 2
0.0247 (1e 30 0.1) B 0.9
0.1
60
+ 100.1(kgf @ cm) + 9.81(Nm)
Torque (Nm)
Torque (Nm)
12.1 (Nm)
2049 (min1)
Speed (min1)
Speed-torque characteristics of
2/3000
Speed (min1)
Speed-torque characteristics of
3/3000
28
B65142E/02
When acceleration/
deceleration is not
controlled
4. SELECTING A MOTOR
Speed
Torque
Command
Ta
Vm
Operation of
the motor
Time
ta
Vm
Speed
Calculating acceleration
torque : Procedure 2
T=12.1(Nm)+0.9(Nm)=13.0(Nm)
Calculating acceleration
torque : Procedure 3
29
4. SELECTING A MOTOR
B65142E/02
4.1.3
Calculating the
Root-mean-square
Value of the Torques
Calculating the
frequency of positioning
in rapid traverse
Speed
Ta+Tf
Tf
Time
t1
t1
t2
To
TaTf
t3
t1
t2
t1
to
Time
t3
to
Ta : Acceleration torque
Tm : Friction torque
To : Torque when stopped
If Trms is smaller than or equal to the rated torque at stall (Ts), the motor
can be used.
(Set a value equal to 90% of the static rated torque, considering the total
thermal efficiency.)
Example)
When an 3/3000 (Ts = 31 (kgfcm) = 3.0 (Nm)) is used under the
following conditions: Ta = 12.1 (Nm), Tm = To = 0.9 (Nm), t1 = 0.1
(s), t2 = 1.8 (s), t3 = 7.0 (s)
Trms +
(12.1 ) 0.9)
+ 20.2(Nm) t Ts
0.1 ) 0.9 2
0.9 + 2.9
1.8 ) (12.10.9) 2
tO
0.9 + 2.61(Nm)
0.1 ) 0.9 2
B65142E/02
4. SELECTING A MOTOR
T4
T2
Tn
T5
T3
Time
t1
t2
t3
t4
t5
tn
to
Trms +
T 1 t 1 ) T 2 t 2 ) T 3 t 3 )AAA ) T n t n
to
2
to = t1 + t2 + + Tn
4.1.4
Calculating the
Percentage Duty Cycle
with the Maximum
Cutting Torque
Check that the time for which the table can be moved with the maximum
cutting torque, Tmc, (percentage duty cycle and ON time) is within a
desired range of cutting time. (Condition 5)
If Tmc (maximum load torque) applied to the motor shaft during cutting,
which is obtained in Subsec. 4.1.1, is smaller than the product of rated
torque at stall of the motor (Tc) and (thermal efficiency), the motor can
be used in continuous cutting. If Tmc is greater than the product (Tmc
> Tc _ ), follow the procedure below to calculate the percentage ratio of
time (tON) Tmc can be applied to the motor to total time (t) of a single
cutting cycle. ( is assumed to be 0.9. Calculate the percentage
considering the specifications of the machine.)
Tmc t Tc
Tmc u Tc
Example)
As calculated in Subsec. 4.1.1,
Tmc = 21.8 (kgfcm) = 2.1 (Nm)
OS: Tc = 30 (kgfcm) = 2.9 (Nm)
2.9 _ 0.9 = 2.6 (Nm) > 2.1 (Nm) = Tmc
No problems will occur in continuous cutting.
31
4. SELECTING A MOTOR
Calculating the
percentage duty cycle
with the maximum
cutting torque
Torque
B65142E/02
ON
tON
OFF
Time
t
t ON
100(%)
Example)
Assume that Tmc is 4.0(Nm) (Tm = 0.9(Nm)).
4.0
t ON ) 0.9 2
t ON ) t OFF
t OFF
t 2.6(Nm)
Therefore,
t ON
1
t OFF t 1.6
100 + 38.5%
32
B65142E/02
4.2
PRECAUTIONS FOR
USING LINEAR
SCALE
4. SELECTING A MOTOR
In the case where the machine moves in a linear direction and movement
is directly detected by linear scale such as inductosyn, magne-scale etc.,
special considerations are necessary in comparison with the method
where feedback is produced by detecting the motor shaft rotation. This
is because the machine movement now directly influences the
characteristics of the control system.
Pulse coder
Command
Position
control
circuit
Motor
Linear scale
Servo
amplifier
This method is shown in the figure above by block diagram. The response
of this control system is determined by the adjustment value (position
loop gain) of the position control circuit. In other words, the position loop
gain is determined by the specified response time of the control system.
In the diagram above, the section enclosed by the broken line is called the
velocity loop. Unless the response time of this section where position
signal is detected is sufficiently shorter than the response time determined
by the position loop gain, the system does not operate properly. In other
words, when a command signal is put into point A, response time of the
machine where position signals are detected must be sufficiently shorter
than the response time defined by the position loop gain.
When the response of the detector section is slow, the position loop gain
must be reduced to have the system operate normally, and as a result, the
response of the whole system is slow. The same problem is caused when
inertia is great (see section 4.1, item 1)).
The main causes for slow response are the mass of the machine and the
elastic deformation of the machine system. The larger the volume, and
the greater the elastic deformation, the slower the response becomes.
As an index for estimating the response of this machine system, the
natural frequency of the machine is used, and this is briefly calculated by
the following equation.
Wm 1 Km
JL
2
Wm : Natural frequency
JL : Load inertia reflected to motor shaft (kgfcms2)
Km : Rigidity of machine system (kgfcm/rad)
=Torque necessary to elastically deform 1 rad at the motor
shaft when the machine table is clamped.
4. SELECTING A MOTOR
B65142E/02
Stick slip
If machine movement causes a stick slip, the control system does not
operate normally. That is, it does not stop where it is supposed to, but a
phenomenon occurs where it goes beyond and then back within an
extremely small range (hunting). To avoid stick slip, the machine rigidity
should be increased, or friction characteristics of the sliding surface
should be improved. When the sliding surface friction characteristic is
as in the figure below, stick slip occurs easily.
Friction coefficient
Friction characteristic
which causes stick slip
Speed
Value of machine
overrun
(Damping coefficient of
machine system)
When the machine is floated by static pressure, etc., there are cases where
the machine keeps on moving within the range of backlash although the
motor shaft has stopped. If this amount is large, hunting will also occur.
To avoid this, backlash should be reduced (especially the backlash of the
last mass where position detector is mounted) and the appropriate
damping should be considered.
34
B65142E/02
4.3
MOTOR SELECTION
4. SELECTING A MOTOR
Select a suitable motor according to the load condition, rapid traverse rate,
increment system, and so on. To aid in selecting the correct motor, fill out
the servo motor selection data table at the end of this section.
Fill in blanks of machine tool data items (No. 1, 2 and 3) of this table with
necessary data, and send this table to our representative.
The representative will fill in blanks of item No. 4 to 8 with suitable data
of motor and send this table back.
Details of each item in this selection data table are as described in Subsec.
4.3.1 and 4.3.2.
4.3.1
Blanks for Those Other
than Data
Kind of machine tool
Fill in this blank with a general name of machine tools, such as lathe,
milling machine, machining center, and others.
Fill in this blank with the type of machine tool decided by machine tool
builder.
CNC equipment
Fill in this blank with the name of CNC (15T, 16M, 0MC, etc.) employed.
Fill in this blank for reference when examining the servo motor output.
Names of axes
Blanks of version
number, date, name, and
reference number.
4.3.2
Machine tool builders are requested to fill in data blanks No. 1, 2, 3. Fill
in No. 4 items and higher blanks with decided values or desired values,
if any, from the viewpoints of specifications.
If these values are unknown or undecided, the representative will decide
these values according to the contents in item No. 1, 2, and 3. So leave
them blank. See the following for details of the contents of filling in.
Data
No. 1 blank
Data in this blank are used for determining approximate values of motor
load conditions (inertia, torque). Fill in blanks of all items.
Enter the movement directions of driven parts such as table, tool post, etc.
Write the angle from the horizontal level, if their movement directions are
slant (Example : Slant 60)
Whether their movement directions are horizontal or vertical (or slant) is
necessary for calculating the regenerative energy. Fill in this blank
without fail.
Enter the weight of driven parts, such as table , tool post, etc. by the
maximum value including the weight of workpiece, jig, and so on. Do
not include the weight of the counter balance in the next item in this item.
35
4. SELECTING A MOTOR
B65142E/02
Counter balance
Enter the weight of the counter balance in the vertical axis, if provided.
Write the force in case of hydraulic balance.
Table support
Enter the type of table slide as to rolling, sliding, or static pressure type.
If a special slide way material like Turcite is used, note it.
Feed screw
Enter the diameter, pitch, and axial length of the lead screw in order.
Enter the gear ratio between the ball screw and the servo motor, gear ratio
between the final stage pinion and the servo motor in case of the rack
pinion drive, or gear ratio between the table and the motor in case of rotary
table.
No. 2 blank
Data in this blank serve as the basis for selecting the motor. Enter these
data correctly. For details of calculating methods of respective items,
refer to sec. 4.1 and 4.2.
Enter the movement of the machine tool when the motor rotates one turn.
Example
When the pitch of ball screw is 12 mm and the gear ratio is 2/3,
12 2/3 = 8 mm
When the gear ratio is 1/72 in rotary table ;
360 1/72 = 5 deg
Enter the rapid traverse rate and cutting feedrate required for machine tool
specifications.
Inertia
Enter a load inertia value reflected to the motor shaft. For details of this
calculation, see Subsec. 4.1.1.
It is not always necessary to enter this inertia value in detail.
Enter it as a 2digit or 1digit value. (Example : 0.28650.29 or 0.3)
Do not include any inertia of the motor proper in this value.
Load torque
Since the torque produced in low speed without cutting may be applied
even during the stop of motor, a sufficient allowance is necessary as
compared with the continuous rated torque of the motor. Suppress this
load torque to be lower than 70% of the rated torque.
For the torque during rapid traverse, enter the torque during traveling
at rapid traverse steady-state speed.
Keep this value within the continuous rating. Do not include any
torque required for acceleration/deceleration in this item.
For the cutting torque, enter the maximum value of the force being
applied during cutting by the force in the feed axis direction.
For the maximum cutting torque, enter the torque value on the motor
shaft corresponding to the maximum value of the above cutting thrust.
Since the torque transfer efficiency may substantially deteriorate to a
large extent due to the reaction from the slide way, etc. produced by
the cutting thrust, obtain an accurate value by taking measured values
in similar machine tools and other data into due account.
If the load torque values differ during lifting and lowering in the
vertical axis, enter both values.
36
B65142E/02
4. SELECTING A MOTOR
Enter the duty time and ON time with the maximum cutting torque in item
Load torque applied. These values mean as follows.
Torque
Maximum cutting torque (Tmc)
ON
OFF
Time
t
T
ON
Rapid traverse
positioning frequency
Enter the rapid traverse positioning frequency by the number of times per
minute. This value is used to check if the motor is overheated or not by
a flowing current during acceleration / deceleration or to check the
regenerative capacity of the amplifier.
No. 3 blank
Data in this blank are necessary for examining the stability of the servo
system when the position detector is attached outside the motor. Enter
these data without fail when the servo system is constructed using a linear
scale.
If the position detector is mounted outside the motor, enter the name of
the detector. Enter the following items in the remarks column, if a
rotary detector such as resolver, pulse coder, or the like is used.
Resolver
Move amount of machine tool per revolution of resolver
Number of wave lengths per revolution of resolver
Pulse coder
Move amount per revolution of pulse coder
Number of pulses of pulse coder
Enter the relation between the torque and the displacement when the
torque is applied to the motor shaft, assuming that the final driven part like
the table has been fully locked. Fill in this value as a torque value required
for the angular displacement of 1 radian.
37
4. SELECTING A MOTOR
B65142E/02
Example)
If displacement of 5 deg. at 500 kgfcm torque as a calculation results,
Rigidity + 500
5
Displacement (rad)
Backlash amount
Enter the backlash amount between the motor and the final driven part like
table by converting it into the move amount of the table.
No. 4 blank
Motor specifications
Motor model
Feedback (FB) type
Enter the model name of the motor employed and the specifications of the
builtin feedback unit by using symbols.
Option, special
specifications
No. 5 blank
Acceleration /
deceleration time at
rapid traverse
Time
ta
38
ta
B65142E/02
Acceleration/
deceleration time at
cutting feed
4. SELECTING A MOTOR
Time
te
te
te : Time constant
No. 6 blank
Input multiply ratio,
command multiply ratio,
and flexible feed gear
ratio
The NC set values required for moving the machine tool at the least input
increment values are entered in these blanks.
The relation among these values as illustrated below.
Command multiply ratio
Error
register
CMR
Flexible
feed gear
In the above figure, each ratio is set so that the units of the two inputs (a
and b) of the error register are the same. The pulse coder uses a flexible
feed gear as standard. So, CMR is normally set to 1. When other than
1 is to be set for CMR, contact FANUC for details.
For the flexible feed gear (F.FG), the ratio of the number of position pulses
required per motor shaft revolution to the number of feedback pulses is
set. The set value is obtained as follows:
F.FG
1,000,000
Note
For calculation, the number of feedback pulses for the
pulse coder must always be set to 1,000,000. The
maximum permissible value for both the numerator and
denominator is 32,767. So, the fraction should be reduced
to its lowest terms, after which the resultant numerator and
denominator should be set.
39
4. SELECTING A MOTOR
B65142E/02
Example)
Suppose that the NC uses increments of 1 m, the machine travel
distance per motor shaft revolution is 8 mm, and pulse coder A64 is
used.
F.FG
8, 000
1
1, 000, 000
125,
CMR 1
Number of required
position pulses
(pulses/rev)
F.FG value
10
20
30
10000
20000
30000
1/100
2/100 or 1/50
3/100
No. 7 blank
The coasting distance of the machine tool at the machine tool stroke end
is entered in this blank. The stroke end is usually limited in 2 steps
consisting of the deceleration stop in the first step and dynamic brake stop
in the second step.
The position display accurately coincides with the stop position of the
machine tool when the first step limit switch is depressed. However, this
position is lost when the second step limit switch is depressed. Mount this
second limit switch without fail for preventing the machine tool from
being damaged, because it is only one means of stopping the machine
tool, if the machine tool should run away due to a control failure.
Deceleration stop
distance
Enter the coasting distance when the machine tool is decelerated and
stopped at the stroke end.
Vm
l2
l3
t1
t
Coasting distance Vm (t 1 2 1 )
60
ks
2
ks : Position loop gain (sec1)
40
B65142E/02
4. SELECTING A MOTOR
l2
l3
NoL=Vm
A and B are constants that vary with the model of the motor being used.
The values for each model are listed under Coefficients for Calculating
the Dynamic Brake Stopping Distance.
No. 8 blank
Type of amplifier
Designate AC servo.
Transformer
Specifications
Coefficients for
calculating the dynamic
brake stopping distance
Jm (kgfcms2)
0.5/3000
8.110-2
5.910-8
0.00018
1/3000
5.910-2
1.310-8
0.0037
2/2000
1.910-2
5.310-9
0.0061
2/3000
2.210-2
4.610-9
0.0061
3/3000
1.410-2
7.310-9
0.014
6/2000
5.510-3
4.410-9
0.027
6/3000
1.110-2
2.110-9
0.027
12/2000
3.010-3
6.810-9
0.064
Model
series
41
4. SELECTING A MOTOR
B65142E/02
Model
Jm (kgfcms2)
12/3000
6.710-3
3.110-9
0.064
22/1500
1.510-3
3.310-9
0.12
22/2000
2.810-3
1.810-9
0.12
22/3000
4.210-3
1.210-9
0.12
30/1200
8.610-4
2.510-9
0.17
30/2000
1.110-3
2.010-9
0.17
30/3000
2.510-3
8.610-10
0.17
40/2000
1.110-3
1.110-9
0.23
65/2000
1.710-3
4.210-10
0.19
100/2000
1.310-3
2.410-10
0.27
150/2000
1.010-3
1.710-10
0.35
3/3000HV
3.410-2
3.010-9
0.014
6/3000HV
1.310-2
1.810-9
0.027
12/3000HV
1.410-2
1.510-9
0.064
22/3000HV
7.810-3
6.410-10
0.12
30/3000HV
4.310-3
5.010-10
0.17
C3/2000
8.310-3
1.310-8
0.014
C6/2000
2.710-3
8.810-9
0.027
C12/2000
1.410-3
1.510-8
0.064
C22/1500
1.510-3
3.310-9
0.12
M3/3000
2.010-2
7.110-9
0.008
M6/3000
9.710-3
2.710-9
0.014
M9/3000
5.510-3
1.010-9
0.026
L3/3000
2.310-2
3.010-8
0.0025
L6/3000
1.410-2
1.110-8
0.0050
L9/3000
1.110-2
1.910-9
0.010
L25/3000
3.610-3
1.610-9
0.055
L50/2000
1.710-3
1.110-9
0.10
(HV) series
C series
M series
L series
42
B65142E/02
MTB
Machine
NC, spindle motor
No.
4. SELECTING A MOTOR
Kind
NC ; FANUC
Type
Spindle motor
kW
Axis
Item
Axis movement direction (horizontal, vertical rotation)
Weight of moving component parts
(including workpiece, etc.)
kgf
Counter balance
kgf
Table support (sliding, rolling, static pressure)
Diameter
Pitch
F d screw
Feed
Axial length
Total gear ratio
Movement of machine tool per revolution of motor
mm
Least input increment of NC
mm
Rapid traverse feedrate
mm/min
Cutting traverse feedrate
mm/min
Inertia
kgfcmsec2
Low feed without cutting
kgfcm
Rapid traverse
kgfcm
L d torque
Load
Cutting thrust
kg
Maximum cutting torque
kgfcm
Maximum cutting duty/ON time
%/min
Rapid traverse positioning frequency
times/min
Separate type position detector
Feed system machine tool rigidity
kgfcm/rad
Backlash amount
mm
Motor type
FB type
Number of rotation at rapid traverse
rpm
Option / Special specifications
Acceleration/deceleration time at rapid traverse
msec
Acceleration/deceleration time at cutting feed
msec
Command multiply ratio
CMR
Detection multiply ratio
DMR
Flexible feed gear
FFG
Position loop gain
sec1
Deceleration stop distance
mm
Dynamic brake stop distance
mm
Amplifier type
Transformer
Specifications Amplifier
Version
Remarks
Date
1
2
3
FANUC LTD
43
A. Ar 1870
Name
4. SELECTING A MOTOR
MTB
Machine
NC model
B65142E/02
NC ; FANUC
Axis name
Item
Specifications of moving object
Direction of movement (horizontal, vertical, rotation)
Weight of the moving object (including the workpiece)
kgf
Counterbalance
kgf
Table support (sliding contact, rolling contact, static pressure) (*)
Feed mechanism (Select one of the following and enter the corresponding data.)
1 Ball screw: Diameter _ pitch _ length
2 Rack and pinion: Diameter of pinion (traveling distance of the machine tool per
revolution of the pinion: mm)
3 Others
Mechanical specifications
Traveling distance of the machine tool per revolution of the motor
mm
Total gear reduction ratio
Inertia (Note before deceleration or applied to the motor shaft.)
kgfcmsec2
Least input increment of NC (resolution)
mm
Maximum rapid traverse feedrate
mm/min
Motor speed in rapid traverse
rpm
Acceleration/deceleration time in rapid traverse
msec
Distance of positioning in rapid traverse
mm
Frequency of positioning in rapid traverse
times/min
In the remarks section, note the operation cycle (speed pattern) if it is determined.
Low feed without cutting
kgfcm
Load torque
Rapid traverse
kgfcm
Backlash
mm
Fill in these blanks when an separate type position detector is used.(**)
Type of separate type position detector (detection unit, number of pulses, etc.)
Gear diameter and reduction ratio when a rotary encoder is used
Motor specifications
Motor type (desired size and output, if any)
FB type (when an absolute position detector is required)
Option (when a brake, non-standard shaft, etc. is required)
FANUC will fill in these blanks.
Command multiplier
CMR
Detection multiplier
DMR
Flexible feed gear
FFG
Position loop gain
sec1
Deceleration stop distance
mm
Dynamic brake stop distance
mm
Specifications of amplifier
Specifications of regenerative discharge unit
Specifications of transformer
(*) Note the friction coefficient of the sliding surface if it is determined.
(**) A separate type position detector is required when:
Note
-The positions of the motor and machine may be mechanically displaced, for example, by slippage of a
driving tire or an elongated driving chain.
Version
Remarks
Date
1
2
3
FANUC LTD
44
A. Ar 1870
Name
B65142E/02
4.4
CHARACTERISTIC
CURVE AND DATA
SHEET
4.4.1
4. SELECTING A MOTOR
Performance Curves
Speed-torque
characteristics
Overload duty
characteristic
These curves are known as duty cycle curves and provided very important
information on how to determine the ON time for intermittent overload
torque without overheating the motor. The curves shown in the following
figures are ones determined by the limit of the temperature of the motors.
When the motor is driven by some driving circuit having thermal protect
devices such as thermal relay or fuse, the ON time may be limited by
the characteristics of those elements.
4.4.2
The data sheet gives the values of motor parameters relating to the
performance.
The values of parameters are those under the following conditions.
Data Sheet
4. SELECTING A MOTOR
B65142E/02
9.55
Jm @ Ra
Kt @ Kv
B65142E/02
4.4.3
How to Use Duty Cycle
Curves
4. SELECTING A MOTOR
tF
: OFF time
tR
: ON time
. . . . . . . . . (a)
. . . . . . . . . (b)
47
B65142E/02
48
B65142E/02
5.1
APPLICABLE
MOTORS
5.1.1
200 VAC Input Types
series
Model name
C series
Motor specification number
Mode name
0.5/3000
A06B0113Bxxx
C3/2000
A06B0121Bxxx
1/3000
A06B0371Bxxx
C6/2000
A06B0126Bxxx
2/2000
A06B0372Bxxx
C12/2000
A06B0141Bxxx
2/3000
A06B0373Bxxx
C22/1500
A06B0145Bxxx
3/3000
A06B0123Bxxx
M series
6/2000
A06B0127Bxxx
Model name
6/3000
A06B0128Bxxx
M3/3000
A06B0161Bxxx
12/2000
A06B0142Bxxx
M6/3000
A06B0162Bxxx
12/3000
A06B0143Bxxx
M9/3000
A06B0163Bxxx
22/1500
A06B0146Bxxx
L series
22/2000
A06B0147Bxxx
Model name
22/3000
A06B0148Bxxx
L3/3000
A06B0561Bxxx
30/1200
A06B0151Bxxx
L6/3000
A06B0562Bxxx
30/2000
A06B0152Bxxx
L9/3000
A06B0564Bxxx
30/3000
A06B0153Bxxx
L25/3000
A06B0571Bxxx
40/2000
A06B0157Bxxx
L50/3000
A06B0572Bxxx
40/2000
Motor with fan
A06B0158Bxxx
65/2000
A06B0331Bxxx
100/2000
A06B0332Bxxx
150/2000
A06B0333Bxxx
49
5.1.2
400 VAC Input Types
B65142E/02
From the FANUC (HV) series AC servo motors listed below, select the
motors that meet any combination in III.2 Motor Types and
Specifications (described later). The selected motors will meet the
IEC34 standard if they are used under the conditions described in this
chapter.
(HV) series
Model name
Model name
3/3000HV
A06B0171Bxxx
12/3000HV
A06B0176Bxxx
6/3000HV
A06B0172Bxxx
22/3000HV
A06B0177Bxxx
30/3000HV
A06B0178Bxxx
50
B65142E/02
5.2
DRIVES
5.2.1
200 VAC Input Types
5.2.2
400 VAC Input Types
The FANUC (HV) series AC servo motors can be driven only by the
FANUC control motor amplifiers for 400 to 460 VAC.
51
B65142E/02
5.3
POWER CABLE
CONNECTORS
5.3.1
Model 0.5
5.3.2
Models 1 and 2
B65142E/02
53
5.3.3
Models 3 and Higher
B65142E/02
The motor power cable and brake fan unit must be connected using the
connectors and cable clamps specified below.
Motor
model
name
3/3000,
6/2000,
6/3000,
3/3000HV,
6/3000HV,
C3/2000,
C6/2000,
M3/ 3000,
M6/3000,
M9/3000
L3/3000,
L6/ 3000,
L9/3000
Straight
type
12/2000,
12/3000,
12/3000HV,
22/3000HV,
30/3000HV,
22/1500
22/1500,
22/2000,
30/1200,
C12/2000,
C22/1500
Straight
type
22/3000,
30/2000,
30/3000,
40/2000,
40/2000
40/2000
(with fan)
L25/3000,
L50/2000
Straight
type
Brake and
fan unit
connection
Straight
type
H/MS3106A1810SDT (10)
[A63L00010648/61810SH]
Cable clamp
specification
and connector
maker name
H/MS305710A (10)
[A63L00010592/10AK]
Hirose Electric
JL04V6A2222SEEB
[A63L00010648/62222SJ]
JL042022CK(14)
[A63L00010653/12A]
Japan Aviation
Electronics Industry
Lshape JL04V8A2222SEEB
type
[A63L00010648/82222SJ]
JL04V6A2410SE (G)EB
[A63L00010648/62410SJ]
JL04V6A10SL3SEEB
[A63L00010648/610SL3SJ]
Lshape JL04V8A10SL3SEEB
type
[A63L00010648/810SL3SJ]
JL042428CK(17)
[A63L00010653/16A]
Japan Aviation
Electronics Industry
JL041012CK(05)
[A63L00010653/04A]
Japan Aviation
Electronics Industry
B65142E/02
5.4
APPROVED
SPECIFICATIONS
5.4.1
2/3000,
6/3000,
22/3000,
3/3000HV,
12/3000HV,
30/3000HV
M6/3000,
L3/3000,
L9/3000
2/2000,
12/2000,
40/2000,
C12/2000,
6/2000,
22/2000,
C3/2000,
L50/2000
22/1500,
C22/1500
Ratedoutput
speed [1/min]
Allowable maximum
speed [1/min]
3000
3000
2000
2500
1500
2000
1200
1500
2000
2000
30/2000,
C6/2000,
30/1200
65/2000,
100/2000,
150/2000
Motors must not be used at a speed higher than the allowable maximum
speed. Motors cannot be used continuously at the allowable maximum
speed. The output is not specified for the allowable maximum speed. The
allowable maximum speed applies only to motors. Separate limits are
laid on the drive units.
5.4.2
Output (IEC341)
5.4.3
Protection Type
(IEC345)
IP
Approval conditions
0.5/3000
55
65/2000, 100/2000,
150/2000
55
55
55
B65142E/02
Note
IPx5 evaluates machines for waterproofness in a
shortterm test as described above, allowing chances that
the machines may get dry after the test. If a machine is
exposed to liquids other than water or so continuously to
water that it cannot get dry, it may suffer inadvertent
influence even if the degree of exposure is low.
5.4.4
Cooling Method
(ICE346)
IC code
Method
IC 416
Other models
IC 410
5.4.5
Mounting Method
(IEC347)
IMB5: Flange mounting with the shaft facing sideways (from the rear)
IMV1: Flange mounting with the shaft facing upward (from the rear)
IMV3: Flange mounting with the shaft facing downward (from the rear)
5.4.6
Heat Protection
(IEC3411)
TP211
1: Temperature rise limit category 1 for heat protection
1: Stop only at stage 1 (no warning)
2: Protection for gradual and abrupt overload
56
B65142E/02
FEEDBACK DETECTOR
57
6. FEEDBACK DETECTOR
6. FEEDBACK DETECTOR
DESCRIPTIONS FOR THE series
6.1
BUILTIN DETECTOR
B65142E/02
Resolution
Absolute/
Division/rev incremental
Applicable motor
65,536
Absolute
(HV), C, M, L, and
series except 0.5
8,192
Absolute
65,536
Incremental
(HV), C, M, L, and
series except 0.5
8,192
Incremental
Pulse coder A
1,000,000
Absolute
(HV), M, L, and
series except 0.5
Note
The pulse coders listed above can be connected to an NC
if the NC is fitted with the serial pulse coder interface, and
the digital servo software for the pulse coders is installed.
58
B65142E/02
6. FEEDBACK DETECTOR
6.2
PULSE CODER
RESOLUTION AND
CONTROL
RESOLUTION
65,536
divisions/revolution
With the NCs flexible feed gear function, 1m control can be performed
for feed pitches of up to 30 mm per motor revolution.
Note that, however, that this function is subject to a rounding error of
1/65,536 revolution exists.
8,192
divisions/revolution
1,000,000
divisions/revolution
With the NCs flexible feed gear function 0.1m control (up to 100
mm/revolution) and 0.01m control (up to 10 mm/revolution) can be
performed.
59
6. FEEDBACK DETECTOR
DESCRIPTIONS FOR THE series
6.3
ABSOLUTETYPE
PULSE CODER
B65142E/02
When the NC is turned off, the pulse coder position detection function is
backed up by battery. So, when the NC is next turned on, the operator does
not have to perform reference position return.
For backup, a battery unit must be installed in the NC or servo amplifier.
If a lowbattery indication appears on the NC, renew the battery as soon
as possible.
Replace the battery while the NC is turned on.
60
B65142E/02
6.4
SEPARATE TYPE
POSITION
DETECTOR
6. FEEDBACK DETECTOR
A8600301T0jj
jj
01 :
02 :
03 :
04 :
A8600324T1jj
jj
01 :
02 :
03 :
04 :
61
6. FEEDBACK DETECTOR
DESCRIPTIONS FOR THE series
D Highspeed high
resolution pulse coder
unit
A8600314T1jj
jj
11 : 20000/rev (Up to 3000min -1)
12 : 25000/rev (Up to 2400min -1)
13 : 30000/rev (Up to 2000min -1)
62
B65142E/02
B65142E/02
6. FEEDBACK DETECTOR
Power supply
100KHz
0C to 60 C
Rated loads
0.02mm
Weight
2.0kg
Rotor inertia
Max. 0.057gcmsec2
Friction torque
Max. 0.8kgcm
63
6. FEEDBACK DETECTOR
DESCRIPTIONS FOR THE series
6.5
DETECTOR
INPUT/OUTPUT
SIGNALS
B65142E/02
The type pulse coders signals are inputed or outputed as shown below.
The pin assignments of the signals for the connector used for each model
are also shown. (The output signals and pin assignments for serial pulse
coder A are the same as those for the type pulse coder.)
Model
0.5/3000
Dynamic D3100D
Free hanging type
(Manufactured by AMP Japan;
1789646)
Mating cable connector housing
specifications
(Manufactured by AMP Japan;
1782896)
Models
1/3000, 2/2000,
2/3000
DSUB 15P
Models
3/3000 to 150/2000
3/3000HV to 30/3000HV
C3/2000 to C22/1500
M3/3000 to M9/3000
L3/3000 to L50/3000
Pin No.
Signal
g
name
A8B
I8B
SD
*SD
A4
B4
A4
B4
REQ
*REQ
A3
B3
A3
B3
+5V
0V
Shield
+6VA
0VA
A2, B2
A1, B1
B6
A5
A6
A2, B2
A1, B1
B6
Signal
g
name
A64
I64
SD
*SD
12
13
12
13
REQ
*REQ
5
6
5
6
+5V
0V
Shield
+6VA
0VA
8, 15
1, 2, 3
4
14
10
8, 15
1, 2, 3
4
Pin No.
Pin No.
3102A 2029PW
64
Signall
Si
name
A64
A8
SerialA
I64
I8
SD
*SD
A
D
A
D
REQ
*REQ
F
G
F
G
+5V
0V
Shield
+6VA
0VA
J, K
N, T
H
R
S
J, K
N, T
H
B65142E/02
6.6
6. FEEDBACK DETECTOR
SIGNALS
INPUT/OUTPUT
FROM
SEPARATETYPE
DETECTOR
Separate type
incremental absolute
pulse coder unit
3102A2029P
3102A2214P
Signal
names of
the pulse
coder
Incremental
310A20-29P
Absolute
3102A22-14P
A
*A
A
D
A
B
B
*B
B
E
C
D
Z
*Z
F
G
E
F
C1
C2
C4
C8
G
H
J
K
+5V
0V
shield
OH1
OH2
REQ
+6VA
0VA
C, J, K
N, P, T
H
L
M
N
S
T
U
Separate type
highspeed and
highresolution pulse
coder unit
Signal
names of
the pulse
coder
3102A2214P
65
A
AR
A
B
B
BR
C
D
Z
*Z
E
F
C1
C2
C4
C8
G
H
J
K
+5V
0V
Shield
OH1
OH2
L, T
M, U
N
7. BUILTIN BRAKE
B65142E/02
BUILT-IN BRAKE
66
B65142E/02
7.1
7. BUILTIN BRAKE
BRAKE
SPECIFICATIONS
Motor model
Brake torque
Nm
kgfcm
Release msec
Response
p
ti
time
Brake
msec
Supply voltage
Current
Weight increase
Inertia increase
Weight increase
Inertia increase
65
100
150
40
0.65
6.6
2
20
8
82
35
357
35
357
100
1020
40
60
80
150
150
150
20
10
40
20
20
20
90
0.3 or less
90
0.4 or less
90
0.6 or less
90
0.6 or less
90
0.9 or less
kg
Approx.
0.4kg
Approx.
1.3kg
Approx.
2.3kg
Approx.
6.3kg
Approx.
10kg
Approx.
15kg
kgm2
kgfcms2
0.000009
0.00009
0.00002
0.0002
0.00007
0.0007
0.0006
0.006
0.0010
0.010
0.0010
0.010
L3
L6
L9
Unit
Nm
kgfcm
L25
L50
L25
L50
8
82
18
184
40
408
80
100
130
40
60
60
VDC(10%) 90
A
0.4 or less
90
0.6 or less
90
0.8 or less
kg
Approx.
2.3kg
Approx.
6.0kg
Approx.
7.0kg
kgm2
kgfcms2
0.00007
0.0007
0.0006
0.006
0.0006
0.006
12
22
30
12HV
22HV
30HV
C12
C22
VDC(10%) 90
A
0.1 or less
Motor model
Brake torque
1
2
0.5
Unit
3
6
3HV
6HV
C3
C6
M3
M6
M9
67
7. BUILTIN BRAKE
B65142E/02
68
B65142E/02
7.2
7. BUILTIN BRAKE
CONNECTION OF
THE BRAKES
Model
0.5
Dynamic D3200M
Free Hanging Type
(Manufactured by AMP
Ltd. 31795543)
U
Motor
coil
W
A1
Magnetics cabinet
500VDC
Surge
absorber
V
A2
A3
Grounding plate
B1
Motor body
B2
Brake
coil
500/0.2F
100VAC
B3
Models
1 and 2
1
Magnetics cabinet
500VDC
Surge
absorber
2
3
4
U
Motor
coil
W
Grounding plate
Motor body
5
Brake
coil
500/0.2F
100VAC
6
69
7. BUILTIN BRAKE
B65142E/02
Models
3 to 150, C, M, and
L
A
C
90VDC
Surge
suppressor
Brake
coil
B
B
3102A 10SL3P
Grounding plate
Motor body
Magnetics cabinet
500VDC
Motor
A
500/0.2F
100VAC
B
C
Surge
suppressor
Brake
coil
Ground plate
Motor body
70
B65142E/02
CONNECTORS
71
8. CONNECTORS
8. CONNECTORS
8.1
CONNECTOR ON
THE MOTOR SIDE
B65142E/02
0.5 to 2
8.1.1
Specifications of
Connectors on the
Motor Side
Motor model
Power cable
0.5/3000
31795543
(AMP Japan)
1/3000
2/2000, 2/3000
1763392
(AMP Japan)
Signal cable
1789646
(AMP Japan)
Note
The specification of the AMP Japan connector for the model
0.5 does not include a contact; it only includes a connector
housing.
3 to 40, (HV), C, M, L
Power cable
Signal cable
3/3000, 6/2000
6/3000
3/3000HV,6/3000HV
C3/2000, C6/2000
M3/3000, M6/3000
M9/3000, L3/3000
L6/3000, L9/3000
12/2000, 12/3000
22/1500, 22/2000
30/1200
12/3000HV
22/3000HV
30/3000HV
C12/2000,
C22/1500
22/3000, 30/2000
30/3000, 40/2000
40/2000fan
L25/3000
L50/2000
H/MS3102A1810PDT(10)
(Hirose electric)
JL04HV2E2222PEB
(Japan Aviation
Electronics Industry)
JL04V2E2410PE(G)B
(Japan Aviation
Electronics Industry)
72
(Common to all
models)
H/MS3102A2029PCW4(10)
(Hirose electric)
Brake/fan cable
(Common to all
models)
JL04V2E10SL3PEB
(Japan Aviation
Electronics Industry)
B65142E/02
8. CONNECTORS
Notes
1. The motors should be installed with their connector facing downward as long as possible.
When it is impossible to install a motor in this position, allow slack in the cable to keep liquids
such as a dielectric fluid from going along the cable into the cable or motor. If there is a
possibility that the motors and connectors get wet, provide a cover to protect them.
2. If a motor is not connected to the earth ground through the machine (frame), connect the motor
grounding point and the amplifier grounding point to absorb noise using a 1.25 mm2 or larger
conductor other than the grounding conductor in the power cable. Keep the grounding
conductor as far from the power cable as possible.
73
8. CONNECTORS
8.2
CONNECTORS ON
THE CABLE SIDE
(MODELS 0.5, 1
AND 2)
B65142E/02
8.2.1
Connector Kit
Specifications
Motor model
Power cable
Signal cable
(straight type)
31781296 [housing]
11752172 [contact]
(AMP Japan)
A06B6050K119
(FANUC specification)
1782896 [housing]
11752172 [contact]
(AMP Japan)
A06B6050K120
(FANUC specification)
4
(or 6 for model with a brake)
11 (for absolute) or
9 (for incremental)
Applicable wire
size (Note 1)
AWG#20
AWG#24
AWG#22
AWG#20
f1.72.6
f1.21.6
f1.72.6
0.5/3000
1/3000
2/2000, 2/3000
Contact
HDAB15S [contact]
HDAW15CV
[waterproof cover]
(Hirose Electric)
A06B6050K115
(FANUC specification)
Applicable wire
size (Note1)
AWG#18
AWG#16
f1.82.8
f2.22.8
74
AWG#20 (maximum)
B65142E/02
8. CONNECTORS
Notes
1. AMP Japan connector contacts used in the power cable for
the 0.5 and signal cable for the 1 and 2 are crimp type.
Be careful about the applicable wire and necessary number
of contacts (0.5 only). Each FANUC specification includes
the contacts and housing. The size of conductors used
must meet the following requirements so that they carry the
required current.
0.5 power cable:
AWG#20
1 and 2 power cables:
AWG#18 to 16
0.5, 1 and 2 signal cables: AWG#20 for +5V, 0V, 6VA,
and 0VA, and AWG#24 or
greater for the others
2. For crimp contacts, insulations as well as wires are crimped.
So, they must meet the size requirements listed above. An
insulation smaller than those listed here may also be used
depending on the wire and tool used. Contact AMP Japan
for details. For 1 and 2 power cables, select the external
diameter that matches the cable clamp applicable range
(9.9 to 10.9 mm2) in order to secure TUV approval and
waterproof performance.
The following dedicated tools are required to insert and remove the
contacts. They should be prepared separately from the connector kit.
Crimping tool specification (1 and 2): 9145963 (AMP Japan)
A97L02000979/L
(FANUC)
Crimping tool specification (0.5): 9145952 (AMP Japan)
A97L02000979/M (FANUC)
Extractor specification (common to 0.5, 1, and 2):
9146771 (AMP Japan)
A97L02000980/D3 (FANUC)
8.2.2
Cable Assembly
Specifications
(14m standard)
Motor
model
0.5/3000
1/3000
2/2000
2/3000
Power cable
Power cable
Signal cable
(straight type)
A06B6050K822
A06B6050K823
A02B0200K802
(FANUC specification)
(FANUC specification)
(FANUC specification)
A06B6050K824
A06B6050K825
A06B6050K853
(FANUC specification)
(FANUC specification)
(FANUC specification)
Note
The signal cable assembly is applicable when the NC is
Series16, Series18A, Series15B, Series21TA, Power
Mate MODEL D or F (type A interface), Series16B,
Series18B, Series20, Series21GA, Series21TB, or
Power Mate MODEL H (type B interface).
75
8. CONNECTORS
8.3
SPECIFICATIONS OF
THE CONNECTORS
ON THE CABLE SIDE
(MODELS 3 AND
HIGHER)
B65142E/02
76
B65142E/02
8. CONNECTORS
[A]
[C]
Plug connector
(straight type)
[B]
Cable clamp
[E]
Plug connector
(elbow type)
Cable seal adapter
(straight type)
[F]
Receptacle connector
(motor side)
[D]
[G]
Conduit hose
77
8. CONNECTORS
B65142E/02
8.3.1
Specifications of Plug
Connectors on the
Cable Side (Waterproof
TVApproved Type)
Connector 3/3000,
type 6/3000
3/3000HV,
C3/2000,
M3/3000,
M9/3000,
L6/3000,
[A]
Power cable
6/2000
6/3000HV
C6/2000
M6/3000
L3/3000
L9/3000
H/MS3106A1810SDT(10)
(Hirose Electric)
12/2000,
12/3000
22/1500,
22/2000
30/1200
12/3000HV
22/3000HV
30/3000HV
C12/2000
C22/1500
22/3000,
30/2000
30/3000,
40/2000
40/2000fan
L25/3000, L50/2000
JL04V6A2222SEEB
(Japan Aviation
Electronics Industry)
JL04V6A2410SE(G)EB
(Japan Aviation
Electronics Industry)
Signal cable
(Common to
all models)
Brake/fan cable
(Common to
all models)
The IEC34
standard does
not apply to
signal cable
connectors.
JL04V6A10SL3SEEB
(Japan Aviation
Electronics Industry)
[B]
H/MS3108B1810SDT(10)
(Hirose Electric)
JL04V8A2222SEEB
(Japan Aviation
Electronics Industry)
JL04V8A2410SE(G)EB
(Japan Aviation
Electronics Industry)
[C]
H/MS305710A(10)
JL042022CK(14)
(Japan Aviation
Electronics Industry)
JL042428CK(17)
(Japan Aviation
Electronics Industry)
JL041012CK(05)
(Japan Aviation
Electronics Industry)
JL04V6A2222SE
(Japan Aviation
Electronics Industry)
JL04V6A2410SE(G)
(Japan Aviation
Electronics Industry)
JL04V6A10SL3SE
(Japan Aviation
Electronics Industry)
(Hirose Electric)
[D]
H/MS3106A1810SDT(13)
(Hirose Electric)
JL04V8A10SL3SEEB
(Japan Aviation
Electronics Industry)
Note
If connector type [D] is used in conjunction with a cable or
conduit seal adapter to meet the IEC34 standard, contact
an appropriate maker for details.
78
B65142E/02
8. CONNECTORS
8.3.2
Specifications of Plug
Connectors on the
Cable Side
(Waterproof Type)
Connector 3/3000,
type 6/3000,
6/3000HV
C3/2000,
M3/3000,
M9/3000,
L6/3000,
Power cable
6/2000
3/3000HV
C6/2000
M6/3000
L3/3000
L9/3000
12/2000, 12/3000
22/1500, 22/2000
30/1200
12/3000HV
22/3000HV
30/3000HV
C12/2000
C22/1500
22/3000,
30/2000
30/3000,
40/2000
40/2000fan
L25/3000,
L50/2000
Signal
g
cable
(C
(Common tto
all models)
Brake/fan cable
(C
(Common tto
all models)
[A]
H/MS3106A1810S(10)
(Hirose Electric)
JA06A1810SJ1EB
(Japan Aviation
Electronics Industry)
H/MS3106A2222S(10)
(Hirose Electric)
JA06A2222SJ1EB
(Japan Aviation
Electronics Industry)
H/MS3106A2410S(10)
(Hirose Electric)
JA06A2410SJ1EB
(Japan Aviation
Electronics Industry)
H/MS3106A2029SW(11)
(Hirose Electric)
JA06A2029SWJ1EB
(Japan Aviation
Electronics Industry)
H/MS3106A10SL3S(10)
(Hirose Electric)
JA06A10SL3SJ1EB
(Japan Aviation
Electronics Industry)
[B]
H/MS3108B1810S(10)
(Hirose Electric)
JA08A1810SJ1EB
(Japan Aviation
Electronics Industry)
H/MS3108B2222S(10)
(Hirose Electric)
JA08A2222SJ1EB
(Japan Aviation
Electronics Industry)
H/MS3108B2410S(10)
(Hirose Electric)
JA08A2410SJ1EB
(Japan Aviation
Electronics Industry)
H/MS3108B2029SW(11)
(Hirose Electric)
JA08A2029SWJ1EB
(Japan Aviation
Electronics Industry)
H/MS3108B10SL3S(10)
(Hirose Electric)
JA08A10SL3SJ1EB
(Japan Aviation
Electronics Industry)
[C]
H/MS305710A(10)
(Hirose Electric)
JL0418CK(13)
(Japan Aviation
Electronics Industry)
H/MS305712A(10)
(Hirose Electric)
JL042022CK(14)
(Japan Aviation
Electronics Industry)
H/MS305716A(10)
(Hirose Electric)
JL042428CK(17)
(Japan Aviation
Electronics Industry)
H/MS305712A(10)
(Hirose Electric)
JL042022CK(14)
(Japan Aviation
Electronics Industry)
H/MS30574A(10)
(Hirose Electric)
JL041012CK(05)
(Japan Aviation
Electronics Industry)
JA06A2410SJ1(A72)
JA06A2029SWJ1(A72)
JA06A10SL3SJ1(A72)
(Japan Aviation
Electronics Industry)
H/MS3106A2410S(13)
(Hirose Electric)
(Japan Aviation
Electronics Industry)
H/MS3106A2029SW(14)
(Hirose Electric)
(Japan Aviation
Electronics Industry)
H/MS3106A10SL3S(13)
(Hirose Electric)
[D]
JA06A1810SJ1(A72) JA06A2222SJ1(A72
)
(Japan Aviation
(Japan Aviation
Electronics Industry)
Electronics Industry)
H/MS3106A1810S(13)
H/MS3106A2222S(13)
(Hirose Electric)
(Hirose Electric)
[E]
YSO 181214
(Daiwa Dengyo)
ACS12RLMS18F
(Nippon Flex)
YSO 221214
(Daiwa Dengyo)
ACS16RLMS22F
(Nippon Flex)
YSO 241517
(Daiwa Dengyo)
ACS20RLMS24F
(Nippon Flex)
YSO 20911
(Daiwa Dengyo)
ACS12RLMS20F
(Nippon Flex)
YSO 1058
(Daiwa Dengyo)
[F]
YLO 181214
(Daiwa Dengyo)
ACA12RLMS18F
(Nippon Flex)
YLO 221214
(Daiwa Dengyo)
ACA16RLMS22F
(Nippon Flex)
YLO 241517
(Daiwa Dengyo)
ACA20RLMS24F
(Nippon Flex)
YLO 20911
(Daiwa Dengyo)
ACA12RLMS20F
(Nippon Flex)
YLO 1058
(Daiwa Dengyo)
[G]
BOS 1815
(Daiwa Dengyo)
RCC104RLMS18F
(Nippon Flex)
BOS 2219
(Daiwa Dengyo)
RCC106RLMS22F
(Nippon Flex)
BOS 2419
(Daiwa Dengyo)
RCC106RLMS24F
(Nippon Flex)
BOS 2015
(Daiwa Dengyo)
RCC104RLMS20F
(Nippon Flex)
BOS 109
(Daiwa Dengyo)
[H]
BOL 1815
(Daiwa Dengyo)
RCC304RLMS18F
(Nippon Flex)
BOL 2219
(Daiwa Dengyo)
RCC306RLMS22F
(Nippon Flex)
BOL 2419
(Daiwa Dengyo)
RCC306RLMS24F
(Nippon Flex)
BOL 2015
(Daiwa Dengyo)
RCC304RLMS20F
(Nippon Flex)
BOL 109
(Daiwa Dengyo)
8. CONNECTORS
B65142E/02
8.3.3
Specifications of Plug
Connectors on the
Cable Side
(Nonwaterproof Type)
Connector
type
[A]
[B]
[C]
Power cable
3/3000,
6/3000,
6/3000HV
C3/2000,
M3/3000,
M9/3000,
L6/3000,
6/2000
12/2000,
12/3000
3/3000HV 22/1500,
22/2000
30/1200
C6/2000 12/3000HV
M6/3000 22/3000HV
L3/3000 30/3000HV
L9/3000 C12/2000
C22/1500
22/3000,
30/2000
30/3000,
40/2000
40/2000fan
L25/3000
L50/2000
Signal cable
(Common to
all models)
Brake/fan cable
(Common to
all models)
MS3106B1810S(A72)
MS3106B2222S(A72)
MS3106B2410S(A72)
MS3106B2029SW(A72)
MS3106B10SL3S(A72)
(Japan Aviation
Electronics Industry)
(Japan Aviation
Electronics Industry)
(Japan Aviation
Electronics Industry)
(Japan Aviation
Electronics Industry)
(Japan Aviation
Electronics Industry)
H/MSA3106A1810S(10)
H/MSA3106A2222S(10)
H/MSA3106A2410S(10)
H/MSA3106A2029SW(11)
H/MSA3106A10SL3S(10)
(Hirose Electric)
(Hirose Electric)
(Hirose Electric)
(Hirose Electric)
(Hirose Electric)
MS3108B1810S(A72)
MS3108B2222S(A72)
MS3108B2410S(A72)
MS3108B2029SW(A72)
MS3108B10SL3S(A72)
(Japan Aviation
Electronics Industry)
(Japan Aviation
Electronics Industry)
(Japan Aviation
Electronics Industry)
(Japan Aviation
Electronics Industry)
(Japan Aviation
Electronics Industry)
H/MSA3108B1810S(10)
H/MSA3108B2222S(10)
H/MSA3108B2410S(10)
H/MSA3108B2029SW(11)
H/MSA3108B10SL3S(10)
(Hirose Electric)
(Hirose Electric)
(Hirose Electric)
(Hirose Electric)
(Hirose Electric)
MS305710A(A72)
(Japan Aviation
Electronics Industry)
H/MSA305710A(10)
(Hirose Electric)
MS305712A(A72)
(Japan Aviation
Electronics Industry)
H/MSA305712A(10)
(Hirose Electric)
MS305716A(A72)
(Japan Aviation
Electronics Industry)
H/MSA305716A(10)
(Hirose Electric)
MS305716A(A72)
(Japan Aviation
Electronics Industry)
H/MSA305712A(10)
(Hirose Electric)
MS30574A(A72)
(Japan Aviation
Electronics Industry)
H/MSA30574A(10)
(Hirose Electric)
80
B65142E/02
Model 40 can be fitted with an optional cooling fan. The cooling fan
requires a singlephase 200 VAC power supply.
The connection and operating current are given below. Use fuses or a
circuit breaker in the power magnetics cabinet.
Input voltage
Steadystate current
Surge current
200V
Approx. 0.85Arms
Approx. 1.60Arms
230V
Approx. 0.98Arms
Approx. 1.84Arms
Connection diagram
Fan motor 1
200VAC
Fan motor 2
Grounding plate
Fan motor body
3102A 10SL3P
Power magnetics
Fan
motor 2
81
B65142E/02
GENERAL
85
1. GENERAL
1. GENERAL
1.1
FEATURES OF
COMPACTTYPE
SERVO MOTOR
(0.5)
B65142E/02
The FANUC AC servo motor 0.5 is a compact servo motor suitable for
peripheral machine tool equipment. It has the following features:
Excellent acceleration
characteristics
Compact
Extended
continuousoperation
The use of the latest servo software minimizes the heat generated by
highspeed rotation, allowing continuous operation over a wide range.
Controllability
The use of the latest servo software maintains controllability even when
a disturbance occurs.
Highperformance
detector
The AC servo motor 0.5 is fitted with incremental pulse coder I8B or
absolute pulse coder A8B as its standard pulse coder.
Powerful brake
86
B65142E/02
1.2
FEATURES OF
SERVO MOTOR
series (1 to 150)
1. GENERAL
Excellent acceleration
characteristics
The rotor inertia has been reduced without sacrificing maximum output
torque. As a result, the motors offer excellent acceleration characteristics.
Compact
Excellent waterproofing
Extended
continuousoperation
The use of the latest servo software minimizes the heat generated by
highspeed rotation, allowing continuous operation over a wide range.
Smooth rotation
Further improvements have been made to the unique magnetic pole shape
to minimize torque ripple. The result is extremely smooth rotation.
Controllability
The use of the latest servo software maintains controllability even when
a disturbance occurs.
Highperformance
detector
Powerful brake
87
2.TYPES OF MOTORS
AND DESIGNATION
B65142E/02
Model
0.5/3000
Models
1/3000, 2/2000,
and 2/3000
A06B01jjBl ff
jj
13
l
0:
1:
ff
78
80
: Model 0.5/3000
Straight shaft (standard)
Straight shaft with the brake (0.65Nm)
: With the pulse coder A8B
: With the pulse coder I8B
A06B03jjBl ff
jj
71
72
73
l
0:
1:
5:
6:
ff
75
77
84
: Model 1/3000
: Model 2/2000
: Model 2/3000
Taper shaft (standard)
Taper shaft with the brake (2Nm)
Straight shaft
Straight shaft with the brake (2Nm)
: With the pulse coder A64
: With the pulse coder I64
: With the serial pulse coder A
The standard shafts used for models 1/3000, 2/2000, and 2/3000 are
taper shafts. Use a taper shaft as far as circumstances, such as the delivery
time and maintenance, permit.
88
B65142E/02
Models
3/3000 6/2000,
and 6/3000
2. TYPE OF MOTORS
AND DESIGNATION
A06B01jjBl ff
jj
23
27
28
l
0:
1:
5:
6:
ff
75
77
84
: Model 3/3000
: Model 6/2000
: Model 6/3000
Taper shaft (standard)
Taper shaft with the brake (8Nm)
Straight shaft
Straight shaft with the brake (8Nm)
: With the pulse coder A64
: With the pulse coder I64
: With the serial pulse coder A
The standard shafts used for models 3/3000, 6/2000, and 6/3000 are
taper shafts. Use a taper shaft as far as circumstances, such as the delivery
time and maintenance, permit.
Models
12/2000, 12/3000
22/1500, 22/2000,
22/3000 30/1200,
30/2000, 30/3000
40/2000, and
40/2000 (with fan)
A06B01jjBl ff
jj
42
43
46
47
48
51
52
53
57
58
l
0:
1:
5:
6:
ff
75
77
84
:
:
:
:
:
:
:
:
:
:
Model 12/2000
Model 12/3000
Model 22/1500
Model 22/2000
Model 22/3000
Model 30/1200
Model 30/2000
Model 30/3000
Model 40/2000
Model 40/2000 (with fan)
89
2.TYPES OF MOTORS
AND DESIGNATION
Models
65/2000, 100/2000,
and 150/2000
A06B03jjBl ff
jj
31 : Model 65/2000
32 : Model 100/2000
33 ; Model 150/2000
l
0:
2:
ff
75
77
84
90
B65142E/02
B65142E/02
3. SPECIFICATIONS AND
CHARACTERISTICS
91
3.SPECIFICATIONS AND
CHARACTERISTICS
B65142E/02
3.1
TYPE OF MOTORS
AND
SPECIFICATIONS
Item
Unit
0.5/3000
1/3000
2/2000
2/3000
kw
0.2
0.3
0.4
0.5
HP
0.3
0.4
0.5
0.6
Nm
0.6
1.0
2.0
kgfcm
6.5
10
20
1/min
3000
3000
2000
3000
Nm
3.4
16
kgfcm
35
80
160
kgm2
0.000017
0.00036
0.00060
kgfcms2
0.00018
0.0037
0.0061
rad/s2
190000
22000
26000
kg
Output
Rated torque
q
at stall
Rating output
speed
Maximum
theoretical
torque
Rotor inertia
Maximum
theoretical
acceleration
Weight
Note
The above values shown in the maximum theoretical torque
are the theoretical values.
The actual maximum torque is restricted by the current limit
values of the drive amplifier.
92
B65142E/02
3. SPECIFICATIONS AND
CHARACTERISTICS
Item
Unit
3/3000
6/2000
6/3000
kw
0.9
1.0
1.4
HP
1.3
1.4
1.9
Nm
3.0
6.0
kgfcm
31
61
1/min
3000
2000
3000
Nm
27
56
kgfcm
280
571
kgm2
0.0014
0.0026
kgfcms2
0.014
0.027
rad/s2
20000
21000
kg
13
Output
q
Rated torque
at stall
Rating output
speed
Maximum
theoretical
torque
Rotor inertia
Maximum
theoretical
acceleration
Weight
Note
The above values shown in the maximum theoretical torque
are the theoretical values.
The actual maximum torque is restricted by the current limit
values of the drive amplifier.
93
3.SPECIFICATIONS AND
CHARACTERISTICS
Item
B65142E/02
Unit
12/2000
12/3000
22/1500
22/2000
22/3000
30/1200
30/2000
30/3000
40/2000
40/2000
(with fan)
kw
2.1
2.8
3.0
3.8
4.4
3.3
4.5
4.8
5.9
7.3
HP
2.8
3.8
4.0
5.0
5.9
4.4
6.7
7.1
7.8
9.8
Nm
12
22
30
38
56
kgfcm
122
225
306
387
571
1/min
2000
3000
1500
2000
3000
1200
2000
3000
2000
2000
Nm
66
130
200
270
270
kgfcm
670
1400
2100
2800
2800
kgm2
0.0062
0.012
0.017
0.022
0.022
kgfcms2
0.064
0.12
0.17
0.23
0.23
rad/s2
11000
11000
12000
12000
12000
kg
18
29
41
52
55
Output
Rated torque
q
at stall
Rating output
speed
Maximum
theoretical
torque
Rotor inertia
Maximum
theoretical
acceleration
Weight
Note
The above values shown in the maximum theoretical torque
are the theoretical values.
The actual maximum torque is restricted by the current limit
values of the drive amplifier.
94
B65142E/02
3. SPECIFICATIONS AND
CHARACTERISTICS
Item
Unit
65/2000
100/2000
150/2000
kw
8.2
10
12
HP
11
14
16
Nm
65
100
150
kgfcm
663
1019
1529
1/min
2000
2000
2000
Nm
290
440
590
kgfcm
3000
4500
6000
kgm2
0.019
0.026
0.034
kgfcms2
0.19
0.27
0.35
rad/s2
16000
17000
17000
kg
80
100
120
Output
q
Rated torque
at stall
Rating output
speed
Maximum
theoretical
torque
Rotor inertia
Maximum
theoretical
acceleration
Weight
Note
The above values shown in the maximum theoretical torque
are the theoretical values.
The actual maximum torque is restricted by the current limit
values of the drive amplifier.
95
3.SPECIFICATIONS AND
CHARACTERISTICS
B65142E/02
3.2
CHARACTERISTIC
CURVE AND DATA
SHEET
Speedtorque
characteristics
Overload duty
characteristic
Data sheet
The parameters given in the data sheet are representative values for an
ambient temperature of 20C. They are subject to an error of +10%.
The indicated logical values are threshold values for the single motor unit
(when the motor is not restricted by the control system).
The maximum torque that can be produced during acceleration or
deceleration in actual use is calculated as the approximate product of the
motor torque constant and the current limit value of the amplifier.
Example : 3/3000
Motor torque constant = 0.65 (Nm/Arms)
Amplifier limit value = 40 Apeak
Maximum torque value
= 40 x 0.707 x 0.65
(Converted to an effective value)
= 18.4 Nm (Converted to an effective value)
This value is for reference only. The actual value will vary depending on
changes in the power supply, as well as variations in motor parameters and
amplifier limit values.
In some models, if the maximum current flows in the motor, the actual
maximum torque is affected by, for example, magnetic saturation. As a
result, the actual maximum torque will be lower than the calculated value.
The intermittent operation area (maximum torque value) indicated in the
speed to torque characteristics is the effective value, determined
according to the combination with the amplifier.
96
3. SPECIFICATIONS AND
CHARACTERISTICS
B65142E/02
Model 0.5/3000
Specification : A06B0113Bjjj
Torque
(Nm)
Duty
(time %)
Intermittent operating
Continuous operating
Speed (1/min)
ON time (min.)
Data sheet
Parameter
Symbol
Nmax
(*)
Rotor inertia
Ts
Jm
Value
3000
Unit
min
-1
0. 6
Nm
6. 5
kgfcm
0. 000017
kgm2
0. 00018
kgfcms2
2. 8
A (rms)
0. 23
Nm/A (rms)
Torque constant
(*)
Kt
2. 3
kgfcm/A (rms)
(*)
Ke
7. 9
V/1000min -1
(*)
Kv
0. 08
Vsec/rad
Armature resistance
(*)
Ra
0. 80
(*)
tm
0. 0007
tt
Static friction
Tf
Im
10
Nm
0. 4
kgfcm
19
3. 4
Tm
35
Maximum theoretical
acceleration
190000
Weight
min
0. 04
1. 0
A (peak)
Nm
kgfcm
rad/s2
kg
(*) The values are the standard values at 20C and the tolerance is 10%.
The speedtorque characteristics very depending on the type of software, parameter
setting, and input voltage of the digital servo motor. (The above figures show average
values.) These values may be changed without prior notice.
97
3.SPECIFICATIONS AND
CHARACTERISTICS
Model 1/3000
B65142E/02
Specification : A06B0371Bjjj
Torque
(Nm)
Duty
(time %)
Intermittent operating
Continuous operating
Speed (1/min)
ON time (min.)
Data sheet
Parameter
Symbol
Nmax
(*)
Jm
Is
Torque constant
(*)
Kt
(*)
Ke
3000
1. 0
Ts
Rotor inertia
Value
Unit
min
-1
Nm
10
kgfcm
0. 00036
kgm2
0. 0037
kgfcms2
2. 2
A (rms)
0. 44
Nm/A (rms)
4. 5
kgfcm/A (rms)
15. 5
V/1000min -1
(*)
Kv
0. 15
Vsec/rad
Armature resistance
(*)
Ra
1. 73
(*)
tm
0. 010
tt
Static friction
Tf
Im
15
Nm
kgfcm
24
8
Tm
Maximum theoretical
acceleration
Weight
min
0. 10
A (peak)
Nm
80
kgfcm
22000
rad/s2
2. 8
kg
(*) The values are the standard values at 20C and the tolerance is 10%.
The speedtorque characteristics very depending on the type of software, parameter
setting, and input voltage of the digital servo motor. (The above figures show average
values.) These values may be changed without prior notice.
98
3. SPECIFICATIONS AND
CHARACTERISTICS
B65142E/02
Model 2/2000
Specification : A06B0372Bjjj
Model 2/3000
Specification : A06B0373Bjjj
Torque
(Nm)
Duty
(time %)
Intermittent operating
Continuous operating
Speed (1/min)
ON time (min.)
Data sheet
Parameter
Symbol
Nmax
(*)
Jm
Is
Torque constant
(*)
Kt
(*)
Ke
2000
2. 0
Ts
Rotor inertia
Value
Unit
3000
2. 0
min
-1
Nm
20
20
kgfcm
0. 00060
0. 00060
kgm2
0. 0061
0. 0061
kgfcms2
2. 2
2. 9
A (rms)
0. 90
0. 67
Nm/A (rms)
9. 2
6. 9
kgfcm/A (rms)
31. 3
23. 5
V/1000min -1
(*)
Kv
0. 30
0. 22
Vsec/rad
Armature resistance
(*)
Ra
2. 44
1. 38
(*)
tm
0. 005
0. 005
tt
Static friction
Tf
Im
Tm
20
Weight
min
0. 15
Nm
1. 5
1. 5
kgfcm
24
Maximum theoretical
acceleration
20
0. 15
32
A (peak)
Nm
16
16
160
160
kgfcm
26000
26000
rad/s2
4. 3
4. 3
kg
(*) The values are the standard values at 20C and the tolerance is 10%.
The speedtorque characteristics very depending on the type of software, parameter
setting, and input voltage of the digital servo motor. (The above figures show average
values.) These values may be changed without prior notice.
99
3.SPECIFICATIONS AND
CHARACTERISTICS
Model 3/3000
B65142E/02
Specification : A06B0123Bjjj
Torque
(Nm)
Duty
(time %)
Intermittent operating
Continuous operating
Speed (1/min)
ON time (min.)
Data sheet
Parameter
Symbol
Nmax
(*)
Value
3000
3. 0
Ts
31
Rotor inertia
Jm
Is
Torque constant
(*)
Kt
(*)
Ke
Unit
min
-1
Nm
kgfcm
0. 0014
kgm2
0. 014
kgfcms2
4. 6
A (rms)
0. 65
Nm/A (rms)
6. 6
kgfcm/A (rms)
23
V/1000min -1
(*)
Kv
0. 22
Vsec/rad
Armature resistance
(*)
Ra
0. 57
(*)
tm
0. 006
tt
Static friction
Tf
Im
45
Tm
Maximum theoretical
acceleration
Weight
min
0. 3
Nm
kgfcm
60
A (peak)
27
Nm
280
kgfcm
20000
rad/s2
kg
(*) The values are the standard values at 20C and the tolerance is 10%.
The speedtorque characteristics very depending on the type of software, parameter
setting, and input voltage of the digital servo motor. (The above figures show average
values.) These values may be changed without prior notice.
100
3. SPECIFICATIONS AND
CHARACTERISTICS
B65142E/02
Model 6/2000
Specification : A06B0127Bjjj
Model 6/3000
Specification : A06B0128Bjjj
Duty
(time %)
Intermittent operating
Continuous operating
ON time (min.)
Speed (1/min)
Data sheet
Parameter
Symbol
Nmax
(*)
Value
2000
6. 0
Ts
61
Rotor inertia
Jm
Is
Torque constant
(*)
Kt
(*)
Ke
Unit
3000
6. 0
61
min
-1
Nm
kgfcm
0. 0026
0. 0026
kgm2
0. 027
0. 027
kgfcms2
5. 6
1. 08
11. 0
38
10. 0
A (rms)
0. 60
Nm/A (rms)
6. 1
kgfcm/A (rms)
21
V/1000min -1
(*)
Kv
0. 36
0. 20
Vsec/rad
Armature resistance
(*)
Ra
0. 65
0. 18
(*)
tm
0. 004
0. 004
tt
50
Static friction
Tf
Im
Tm
Maximum theoretical
acceleration
Weight
50
min
0. 3
0. 3
Nm
kgfcm
73
132
A (peak)
56
56
570
570
Nm
kgfcm
21000
21000
rad/s2
13
13
kg
(*) The values are the standard values at 20C and the tolerance is 10%.
The speedtorque characteristics very depending on the type of software, parameter
setting, and input voltage of the digital servo motor. (The above figures show average
values.) These values may be changed without prior notice.
101
3.SPECIFICATIONS AND
CHARACTERISTICS
B65142E/02
Model 12/2000
Specification : A06B0142Bjjj
Model 12/3000
Specification : A06B0143Bjjj
Torque
(Nm)
Duty
(time %)
Intermittent
operating
Continuous operating
ON time (min.)
Speed (1/min)
Data sheet
Parameter
Symbol
Nmax
(*)
Ts
Rotor inertia
Jm
Is
Torque constant
(*)
Kt
(*)
Ke
Value
Unit
2000
3000
min
12
12
Nm
122
122
-1
kgfcm
0. 0062
0. 0062
kgm2
0. 064
0. 064
kgfcms2
8. 8
1. 36
13. 8
47
15. 5
A (rms)
0. 77
Nm/A (rms)
7. 9
kgfcm/A (rms)
27
V/1000min -1
(*)
Kv
0. 45
0. 26
Vsec/rad
Armature resistance
(*)
Ra
0. 49
0. 17
(*)
tm
0. 005
0. 005
tt
60
Static friction
Tf
Im
Tm
Maximum theoretical
acceleration
Weight
60
min
0. 8
0. 8
Nm
kgfcm
70
120
A (peak)
66
66
670
670
Nm
kgfcm
11000
11000
rad/s2
18
18
kg
(*) The values are the standard values at 20C and the tolerance is 10%.
The speedtorque characteristics very depending on the type of software, parameter
setting, and input voltage of the digital servo motor. (The above figures show average
values.) These values may be changed without prior notice.
102
3. SPECIFICATIONS AND
CHARACTERISTICS
B65142E/02
Model 22/1500
Specification : A06B0146Bjjj
Model 22/2000
Specification : A06B0147Bjjj
Model 22/3000
Specification : A06B0148Bjjj
Torque
(Nm)
Duty
(time %)
Intermittent
operating
Continuous
operating
ON time (min.)
Speed (1/min)
Data sheet
Parameter
Symbol
Nmax
(*)
Ts
Rotor inertia
Jm
Is
Torque constant
(*)
Kt
(*)
Ke
Value
1500
2000
Unit
3000
22
22
22
224
224
224
min -1
Nm
kgfcm
0. 012
0. 012
0. 012
kgm2
0. 12
0. 12
0. 12
kgfcms2
12. 5
1. 76
18. 7
1. 17
32. 1
0. 68
A (rms)
Nm/A (rms)
18. 0
12. 0
7. 0
kgfcm/A (rms)
62
41
24
V/1000min -1
(*)
Kv
0. 59
0. 39
0. 23
Vsec/rad
Armature resistance
(*)
Ra
0. 315
0. 140
0. 049
(*)
tm
0. 004
0. 004
0. 004
tt
Static friction
Tf
Im
65
1. 2
Tm
Maximum theoretical
acceleration
Weight
65
1. 2
65
1. 2
min
Nm
12
12
12
kgfcm
105
160
275
A (peak)
130
130
130
Nm
1400
1400
1400
kgfcm
11000
11000
11000
rad/s2
29
29
29
kg
(*) The values are the standard values at 20C and the tolerance is 10%.
The speedtorque characteristics very depending on the type of software, parameter
setting, and input voltage of the digital servo motor. (The above figures show average
values.) These values may be changed without prior notice.
103
3.SPECIFICATIONS AND
CHARACTERISTICS
B65142E/02
Model 30/1200
Specification : A06B0151Bjjj
Model 30/2000
Specification : A06B0152Bjjj
Model 30/3000
Specification : A06B0153Bjjj
Torque
(Nm)
Duty
(time %)
Intermittent
operating
Continuous
operating
ON time (min.)
Speed (1/min)
Data sheet
Parameter
Symbol
Nmax
(*)
Ts
Rotor inertia
Jm
Is
Torque constant
(*)
Kt
(*)
Ke
Value
1200
2000
Unit
3000
30
30
30
306
306
306
min -1
Nm
kgfcm
0. 017
0. 017
0. 017
kgm2
0. 17
0. 17
0. 17
kgfcms2
12. 6
2. 37
20. 2
1. 48
24. 2
15. 1
83
52
33. 7
A (rms)
0. 89
Nm/A (rms)
9. 1
kgfcm/A (rms)
31
V/1000min -1
(*)
Kv
0. 79
0. 49
0. 30
Vsec/rad
Armature resistance
(*)
Ra
0. 34
0. 13
0. 046
(*)
tm
0. 003
0. 003
0. 003
tt
Static friction
Tf
Im
70
1. 8
Tm
Maximum theoretical
acceleration
Weight
70
1. 8
70
1. 8
min
Nm
18
18
18
kgfcm
120
190
320
A (peak)
200
200
200
Nm
2100
2100
2100
kgfcm
12000
12000
12000
rad/s2
41
41
41
kg
(*) The values are the standard values at 20C and the tolerance is 10%.
The speedtorque characteristics very depending on the type of software, parameter
setting, and input voltage of the digital servo motor. (The above figures show average
values.) These values may be changed without prior notice.
104
3. SPECIFICATIONS AND
CHARACTERISTICS
B65142E/02
Model 40/2000
Specification : A06B0157B0jj
Specification : A06B0158B0jj
Torque
(Nm)
Duty
(time %)
Intermittent operating
Continuous operating
ON time (min.)
Speed (1/min)
Data sheet
Parameter
Symbol
Nmax
(*)
Ts
Rotor inertia
Jm
Is
Torque constant
(*)
Kt
(*)
Ke
Value
2000
Unit
38
56
390
570
min
-1
Nm
kgfcm
0. 022
0. 022
kgm2
0. 23
0. 23
kgfcms2
27. 0
1. 40
40. 1
1. 40
A (rms)
Nm/A (rms)
14. 3
14. 3
kgfcm/A (rms)
49
49
V/1000min -1
(*)
Kv
0. 47
0. 47
Vsec/rad
Armature resistance
(*)
Ra
0. 080
0. 080
(*)
tm
0. 003
0. 003
tt
30
1. 8
Static friction
Tf
Im
Tm
Maximum theoretical
acceleration
Weight
30
1. 8
min
Nm
18
18
270
270
kgfcm
A (peak)
Nm
270
270
2800
2800
kgfcm
12000
12000
rad/s2
52
55
kg
(*) The values are the standard values at 20C and the tolerance is 10%.
The speedtorque characteristics very depending on the type of software, parameter
setting, and input voltage of the digital servo motor. (The above figures show average
values.) These values may be changed without prior notice.
105
3.SPECIFICATIONS AND
CHARACTERISTICS
Model 65/2000
B65142E/02
Specification : A06B0331Bjjj
Torque
(Nm)
Duty
(time %)
Intermittent operating
Continuous operating
ON time (min.)
Speed (1/min)
Data sheet
Parameter
Symbol
Nmax
(*)
Ts
Value
2000
min
65
Nm
660
Rotor inertia
Jm
Is
Torque constant
(*)
Kt
(*)
Ke
Unit
-1
kgfcm
0. 019
kgm2
0. 19
kgfcms2
62
1. 04
A (rms)
Nm/A (rms)
10. 6
kgfcm/A (rms)
36
V/1000min -1
(*)
Kv
0. 35
Vsec/rad
Armature resistance
(*)
Ra
0. 020
(*)
tm
0. 001
tt
Static friction
Tf
Im
120
3. 7
38
Tm
Maximum theoretical
acceleration
Weight
min
Nm
kgfcm
420
A (peak)
290
Nm
3000
kgfcm
16000
rad/s2
80
kg
(*) The values are the standard values at 20C and the tolerance is 10%.
The speedtorque characteristics very depending on the type of software, parameter
setting, and input voltage of the digital servo motor. (The above figures show average
values.) These values may be changed without prior notice.
106
3. SPECIFICATIONS AND
CHARACTERISTICS
B65142E/02
Model 100/2000
Specification : A06B0332Bjjj
Torque
(Nm)
Duty
(time %)
Intermittent operating
Continuous operating
ON time (min.)
Speed (1/min)
Data sheet
Parameter
Symbol
Nmax
(*)
Ts
Value
2000
min
100
Nm
1020
Rotor inertia
Jm
Is
Torque constant
(*)
Kt
(*)
Ke
Unit
-1
kgfcm
0. 026
kgm2
0. 27
kgfcms2
85
1. 17
A (rms)
Nm/A (rms)
12. 0
kgfcm/A (rms)
41
V/1000min -1
(*)
Kv
0. 39
Vsec/rad
Armature resistance
(*)
Ra
0. 014
(*)
tm
0. 001
tt
Static friction
Tf
Im
130
5. 5
56
Tm
Maximum theoretical
acceleration
Weight
min
Nm
kgfcm
580
A (peak)
440
Nm
4500
kgfcm
17000
rad/s2
100
kg
(*) The values are the standard values at 20C and the tolerance is 10%.
The speedtorque characteristics very depending on the type of software, parameter
setting, and input voltage of the digital servo motor. (The above figures show average
values.) These values may be changed without prior notice.
107
3.SPECIFICATIONS AND
CHARACTERISTICS
Model 150/2000
B65142E/02
Specification : A06B0333Bjjj
Torque
(Nm)
Duty
(time %)
Intermittent operating
Continuous operating
ON time (min.)
Speed (1/min)
Data sheet
Parameter
Symbol
Nmax
(*)
Ts
Value
2000
min
150
Nm
1530
Rotor inertia
Jm
Is
Torque constant
(*)
Kt
(*)
Ke
Unit
-1
kgfcm
0. 034
kgm2
0. 35
kgfcms2
113
1. 31
A (rms)
Nm/A (rms)
13. 3
kgfcm/A (rms)
46
V/1000min -1
(*)
Kv
0. 44
Vsec/rad
Armature resistance
(*)
Ra
0. 011
(*)
tm
0. 001
tt
Static friction
Tf
Im
140
7. 4
75
Tm
Maximum theoretical
acceleration
Weight
min
Nm
kgfcm
690
A (peak)
590
Nm
6000
kgfcm
17000
rad/s2
120
kg
(*) The values are the standard values at 20C and the tolerance is 10%.
The speedtorque characteristics very depending on the type of software, parameter
setting, and input voltage of the digital servo motor. (The above figures show average
values.) These values may be changed without prior notice.
108
B65142E/02
3. SPECIFICATIONS AND
CHARACTERISTICS
3.3
OUTLINE DRAWINGS
Model
Fig. No.
Model 0.5
Fig. 3.3(a)
Fig. 3.3(b)
Fig. 3.3(c)
Models 1 and 2
Fig. 3.3(d)
Fig. 3.3(e)
Fig. 3.3(f)
Models 3 and 6
Fig. 3.3(g)
Fig. 3.3(h)
Fig. 3.3(i)
Fig. 3.3(j)
Fig. 3.3(k)
Fig. 3.3(l)
Fig. 3.3(m)
Fig. 3.3(n)
Fig. 3.3(o)
Fig. 3.3(p)
109
3.SPECIFICATIONS AND
CHARACTERISTICS
B65142E/02
Model 0.5
Approx. 300
Approx. 300
110
B65142E/02
3. SPECIFICATIONS AND
CHARACTERISTICS
Approx. 300
Approx. 300
111
3.SPECIFICATIONS AND
CHARACTERISTICS
112
B65142E/02
B65142E/02
Models 1 and 2
113
3. SPECIFICATIONS AND
CHARACTERISTICS
3.SPECIFICATIONS AND
CHARACTERISTICS
114
B65142E/02
B65142E/02
115
3. SPECIFICATIONS AND
CHARACTERISTICS
3.SPECIFICATIONS AND
CHARACTERISTICS
Models 3 and 6
Serial A
Key width
116
B65142E/02
B65142E/02
3. SPECIFICATIONS AND
CHARACTERISTICS
Serial A
Key width
117
3.SPECIFICATIONS AND
CHARACTERISTICS
118
B65142E/02
B65142E/02
3. SPECIFICATIONS AND
CHARACTERISTICS
Serial A
119
3.SPECIFICATIONS AND
CHARACTERISTICS
B65142E/02
Serial A
(40/2000)
120
B65142E/02
3. SPECIFICATIONS AND
CHARACTERISTICS
except 40
Note) The standard straight shafts only is used for model 40.
121
3.SPECIFICATIONS AND
CHARACTERISTICS
Serial A
122
B65142E/02
B65142E/02
3. SPECIFICATIONS AND
CHARACTERISTICS
Serial A
123
3.SPECIFICATIONS AND
CHARACTERISTICS
Serial A
124
B65142E/02
B65142E/02
Serial A
125
3. SPECIFICATIONS AND
CHARACTERISTICS
3.SPECIFICATIONS AND
CHARACTERISTICS
B65142E/02
3.4
CONNECTION OF
POWER LINE
Model
0.5/3000
A1
Motor
coil
A2
Dynamic D3200M
Free hanging type
(AMP JAPAN, LTD.
31795543)
A3
Ground plate
B1
Motor body
B2
Only the motor with the
brake
Brake
coil
B3
Note)
No surge absorber for brake is contained in
the motor.
Prepare a surge absorber in the power
magnetics cabinet.
Models
1/3000 2/2000, and
2/3000
Motor
coil
Special connector
(AMP JAPAN, LTD.)
Ground plate
4
Motor body
5
Only the motor with the
brake
Brake
coil
Note)
No surge absorber for brake is contained in
the motor.
Prepare a surge absorber in the power
magnetics cabinet.
126
B65142E/02
3. SPECIFICATIONS AND
CHARACTERISTICS
Models
3/3000, 6/2000, and
6/3000
A
Motor
coil
B
C
Grounding plate
D
Motor body
3102A 1810P
Models
12/2000, 12/3000,
22/1500, 22/2000,
and 30/1200
A
Motor
coil
B
C
Grounding plate
D
Motor body
3102A 2222P
Models
22/3000, 30/2000,
30/3000, and 40/2000
A
Motor
coil
B
C
D
E
3102A 2410P
127
F
Grounding plate
G
Motor body
3.SPECIFICATIONS AND
CHARACTERISTICS
Models
65/2000, 100/2000,
and 150/2000
B65142E/02
Motor
coil
Terminal board
Dimension of screw : M8
Grounding plate
G
Motor body
128
B65142E/02
1. GENERAL
GENERAL
Direct connection to a
400V power source
Compact
Excellent waterproofing
Smooth rotation
Further improvements have been made to the unique magnetic pole shape
to minimize torque ripple. The result is extremely smooth rotation.
Controllability
The use of the latest servo software maintains controllability even when
a disturbance occurs.
Builtin
highperformance
detector
Powerful brake
131
2.TYPES OF MOTORS
AND DESIGNATION
B65142E/02
The types and specifications of (HV) series servo motors are described
as follows.
Models
3/3000HV and
6/3000HV
A06B01jjBl ff
jj
71
72
l
0:
1:
5:
6:
ff
75
77
84
: Model 3/3000HV
: Model 6/3000HV
Taper shaft (standard)
Taper shaft with the brake (8Nm)
Straight shaft
Straight shaft with the brake (8Nm)
: With the pulse coder A64
: With the pulse coder I64
: With the serial pulse coder A
The standard shafts used for models 3/3000HV and 6/3000HV are
taper shafts. Use a taper shaft as far as circumstances, such as the delivery
time and maintenance, permit.
Models
12/3000HV, 22/3000HV
and 30/3000HV
A06B01jjBl ff
jj
76
77
78
l
0:
1:
5:
6:
ff
75
77
84
: Model 12/3000HV
: Model 22/3000HV
: Model 30/3000HV
Straight shaft (standard)
Straight shaft with the brake (35Nm)
Taper shaft
Taper shaft with the brake (35Nm)
: With the pulse coder A64
: With the pulse coder I64
: With the serial pulse coder A
132
B65142E/02
3. SPECIFICATIONS AND
CHARACTERISTICS
133
3.SPECIFICATIONS AND
CHARACTERISTICS
B65142E/02
3.1
TYPES OF MOTORS
AND
SPECIFICATIONS
Item
Unit
3/3000HV
6/3000HV
kw
0.9
1.4
HP
1.3
1.9
Nm
3.0
6.0
kgfcm
31
61
1/min
3000
3000
Nm
27
56
kgfcm
280
570
kgm2
0.0014
0.0026
kgfcms2
0.014
0.027
rad/s2
20000
21000
kg
13
Output
Rotor inertia
Maximum theoretical
acceleration
Weight
Note
The above values shown in the maximum theoretical torque
are the theoretical values.
The actual maximum torque is restricted by the current limit
values of the drive amplifier.
134
B65142E/02
3. SPECIFICATIONS AND
CHARACTERISTICS
Item
Unit
12/3000HV
22/3000HV
30/3000HV
kw
2.8
4.0
4.0
HP
3.8
5.4
5.4
Nm
12
22
30
kgfcm
122
224
306
1/min
3000
3000
3000
Nm
66
130
200
kgfcm
670
1400
2100
kgm2
0.0062
0.012
0.017
kgfcms2
0.064
0.12
0.17
rad/s2
11000
11000
12000
kg
18
29
41
Output
q at
Rated torque
stall
Rating output
speed
Maximum
theoretical
torque
Rotor inertia
Maximum
theoretical acceleration
Weight
Note
The above values shown in the maximum theoretical torque
are the theoretical values.
The actual maximum torque is restricted by the current limit
values of the drive amplifier.
135
3.SPECIFICATIONS AND
CHARACTERISTICS
B65142E/02
3.2
CHARACTERISTIC
CURVE AND DATA
SHEET
Speedtorque
characteristics
Overload duty
characteristic
Data sheet
The parameters given in the data sheet are representative values for an
ambient temperature of 20C. They are subject to an error of +10%.
The indicated logical values are threshold values for the single motor unit
(when the motor is not restricted by the control system).
The maximum torque that can be produced during acceleration or
deceleration in actual use is calculated as the approximate product of the
motor torque constant and the current limit value of the amplifier.
Example : 3/3000HV
Motor torque constant = 1.06 (Nm/Arms)
Amplifier limit value = 20 Apeak
Maximum torque value
= 20 0.707 1.06
(Converted to an effective value)
= 14.9 Nm
This value is for reference only. The actual value will vary depending on
changes in the power supply, as well as variations in motor parameters and
amplifier limit values.
In some models, if the maximum current flows in the motor, the actual
maximum torque is affected by, for example, magnetic saturation. As a
result, the actual maximum torque will be lower than the calculated value.
The intermittent operation area (maximum torque value) indicated in the
speed to torque characteristics is the effective value, determined
according to the combination with the amplifier.
136
3. SPECIFICATIONS AND
CHARACTERISTICS
B65142E/02
Model 3/3000HV
Specification : A06B0171Bjjj
Torque
(Nm)
Duty
(time %)
Intermittent operating
Continuous operating
Speed (1/min)
ON time (min.)
Data sheet
Parameter
Symbol
Nmax
(*)
Value
3000
3. 0
Ts
31
Rotor inertia
Jm
Is
Torque constant
(*)
Kt
(*)
Ke
Unit
min
-1
Nm
kgfcm
0. 0014
kgm2
0. 014
kgfcms2
2. 8
A (rms)
1. 06
Nm/A (rms)
10. 8
kgfcm/A (rms)
37
V/1000min -1
(*)
Kv
0. 35
Vsec/rad
Armature resistance
(*)
Ra
1. 85
(*)
tm
0. 006
tt
Static friction
Tf
Im
45
Tm
Maximum theoretical
acceleration
Weight
min
0. 3
Nm
kgfcm
37
A (peak)
27
Nm
280
kgfcm
20000
rad/s2
kg
(*) The values are the standard values at 20C and the tolerance is 10%.
The speedtorque characteristics very depending on the type of software, parameter
setting, and input voltage of the digital servo motor. (The above figures show average
values.) These values may be changed without prior notice.
137
3.SPECIFICATIONS AND
CHARACTERISTICS
Model 6/3000HV
Specification : A06B0172Bjjj
Torque
(Nm)
Duty
(time %)
B65142E/02
Intermittent operating
Continuous operating
Speed (1/min)
ON time (min.)
Data sheet
Parameter
Symbol
Nmax
(*)
Value
3000
6. 0
Ts
61
Rotor inertia
Jm
Is
Torque constant
(*)
Kt
(*)
Ke
Unit
min
-1
Nm
kgfcm
0. 0026
kgm2
0. 027
kgfcms2
3. 6
A (rms)
1. 68
Nm/A (rms)
17. 1
kgfcm/A (rms)
59
V/1000min -1
(*)
Kv
0. 56
Vsec/rad
Armature resistance
(*)
Ra
1. 52
(*)
tm
0. 004
tt
Static friction
Tf
Im
45
Tm
Maximum theoretical
acceleration
Weight
min
0. 3
Nm
kgfcm
47
A (peak)
56
Nm
570
kgfcm
21000
rad/s2
13
kg
(*) The values are the standard values at 20C and the tolerance is 10%.
The speedtorque characteristics very depending on the type of software, parameter
setting, and input voltage of the digital servo motor. (The above figures show average
values.) These values may be changed without prior notice.
138
3. SPECIFICATIONS AND
CHARACTERISTICS
B65142E/02
Model 12/3000HV
Specification : A06B0176Bjjj
Torque
(Nm)
Duty
(time %)
Intermittent operating
Continuous operating
Speed (1/min)
ON time (min.)
Data sheet
Parameter
Symbol
Nmax
(*)
Value
3000
12
Ts
122
Unit
min -1
Nm
kgfcm
0. 0062
kgm2
0. 064
kgfcms2
8. 8
A (rms)
1. 36
Nm/A (rms)
Rotor inertia
Jm
Is
Torque constant
(*)
Kt
(*)
Ke
(*)
Kv
0. 45
Vsec/rad
Armature resistance
(*)
Ra
0. 49
(*)
tm
0. 005
tt
Static friction
Tf
Im
13.8
kgfcm/A (rms)
47
V/1000min -1
60
Tm
Maximum theoretical
acceleration
Weight
min
0. 8
Nm
kgfcm
70
A (peak)
66
Nm
670
kgfcm
11000
rad/s2
18
kg
(*) The values are the standard values at 20C and the tolerance is 10%.
The speedtorque characteristics very depending on the type of software, parameter
setting, and input voltage of the digital servo motor. (The above figures show average
values.) These values may be changed without prior notice.
139
3.SPECIFICATIONS AND
CHARACTERISTICS
Model 22/3000HV
Specification : A06B0177Bjjj
Torque
(Nm)
Duty
(time %)
B65142E/02
Intermittent operating
Continuous operating
Speed (1/min)
ON time (min.)
Data sheet
Parameter
Symbol
Nmax
(*)
Ts
Value
3000
min
22
Nm
224
Rotor inertia
Jm
Is
Torque constant
(*)
Kt
(*)
Ke
Unit
-1
kgfcm
0. 012
kgm2
0. 12
kgfcms2
12. 5
1. 76
A (rms)
Nm/A (rms)
18. 0
kgfcm/A (rms)
62
V/1000min -1
(*)
Kv
0. 59
Vsec/rad
Armature resistance
(*)
Ra
0. 32
(*)
tm
0. 003
tt
Static friction
Tf
Im
65
1. 2
12
Tm
Maximum theoretical
acceleration
Weight
min
Nm
kgfcm
105
A (peak)
130
Nm
1400
kgfcm
11000
rad/s2
29
kg
(*) The values are the standard values at 20C and the tolerance is 10%.
The speedtorque characteristics very depending on the type of software, parameter
setting, and input voltage of the digital servo motor. (The above figures show average
values.) These values may be changed without prior notice.
140
3. SPECIFICATIONS AND
CHARACTERISTICS
B65142E/02
Model 30/3000HV
Specification : A06B0178Bjjj
Torque
(Nm)
Duty
(time %)
Intermittent operating
Continuous operating
Speed (1/min)
ON time (min.)
Data sheet
Parameter
Symbol
Nmax
(*)
Ts
Value
3000
min
30
Nm
306
Rotor inertia
Jm
Is
Torque constant
(*)
Kt
(*)
Ke
Unit
-1
kgfcm
0. 017
kgm2
0. 17
kgfcms2
12. 6
2.37
A (rms)
Nm/A (rms)
24. 2
kgfcm/A (rms)
83
V/1000min -1
(*)
Kv
0. 79
Vsec/rad
Armature resistance
(*)
Ra
0. 34
(*)
tm
0. 003
tt
Static friction
Tf
Im
70
1. 8
18
Tm
Maximum theoretical
acceleration
Weight
min
Nm
kgfcm
120
A (peak)
200
Nm
2100
kgfcm
12000
rad/s2
41
kg
(*) The values are the standard values at 20C and the tolerance is 10%.
The speedtorque characteristics very depending on the type of software, parameter
setting, and input voltage of the digital servo motor. (The above figures show average
values.) These values may be changed without prior notice.
141
3.SPECIFICATIONS AND
CHARACTERISTICS
B65142E/02
3.3
OUTLINE DRAWINGS
Model
Fig. No.
Fig. 3.3(a)
Fig. 3.3(b)
Fig. 3.3(c)
Fig. 3.3(d)
Fig. 3.3(e)
Fig. 3.3(f)
142
B65142E/02
3. SPECIFICATIONS AND
CHARACTERISTICS
Serial A
Key width
143
3.SPECIFICATIONS AND
CHARACTERISTICS
Serial A
Key width
144
B65142E/02
B65142E/02
145
3. SPECIFICATIONS AND
CHARACTERISTICS
3.SPECIFICATIONS AND
CHARACTERISTICS
B65142E/02
Serial A
146
B65142E/02
3. SPECIFICATIONS AND
CHARACTERISTICS
Serial A
147
3.SPECIFICATIONS AND
CHARACTERISTICS
B65142E/02
148
B65142E/02
3. SPECIFICATIONS AND
CHARACTERISTICS
3.4
CONNECTION OF
POWER LINE
Models
3/3000HV and
6/3000HV
Motor
coil
Ground plate
3102A 1810P
Motor body
Models
/3000HV, /00HV
and 30/3000HV
Motor
coil
Ground plate
3102A 2222P
149
Motor body
B65142E/02
1. GENERAL
GENERAL
High costeffectiveness
Compact
Excellent waterproofing
Smooth rotation
Further improvements have been made to the unique magnetic pole shape
to minimize torque ripple. The result is extremely smooth rotation.
Controllability
The use of the latest servo software maintains controllability even when
a disturbance occurs.
Highperformance
detector
Powerful brake
153
2.TYPES OF MOTORS
AND DESIGNATION
B65142E/02
Models
C3/2000 and C6/2000
Models
C12/2000 and C22/1500
A06B01jjBl ff
jj
21 : Model C3/2000
26 : Model C6/2000
l
0 : Taper shaft (standard)
1 : Taper shaft with the brake (8Nm)
5 : Straight shaft
6 : Straight shaft with the brake (8Nm)
ff
75 : With the pulse coder A64
77 : With the pulse coder I64
The standard shafts used for models C3/2000 and C6/2000 are taper
shafts. Use a taper shaft as far as circumstances, such as the delivery
time and maintenance, permit.
A06B01jjBl ff
jj
41
45
l
0:
1:
5:
6:
ff
75
77
: Model C12/2000
: Model C22/1500
Straight shaft (standard)
Straight shaft with the brake (35Nm)
Taper shaft
Taper shaft with the brake (35Nm)
: With the pulse coder A64
: With the pulse coder I64
A straight shaft is fitted as the standard shaft for models C12/2000 and
C22/1500. When early delivery and caseofmaintenance are
important, a straight shaft should be used.
Note
For the C series, serial pulse coder A cannot be used.
154
B65142E/02
3. SPECIFICATIONS AND
CHARACTERISTICS
155
3.SPECIFICATIONS AND
CHARACTERISTICS
B65142E/02
3.1
TYPES OF MOTORS
AND
SPECIFICATIONS
Item
Unit
C3/2000
C6/2000
C12/2000 C22/1500
kw
0.3
0.6
1.0
1.5
HP
0.4
0.8
1.4
2.1
Nm
3.0
6.0
12
22
kgfcm
31
61
122
224
1/min
2000
2000
2000
1500
Nm
27
56
66
130
kgfcm
280
570
670
1400
kgm2
0.0014
0.0026
0.0062
0.012
kgfcms2
0.014
0.027
0.064
0.12
rad/s2
20000
21000
11000
11000
kg
13
18
29
Output
Rated torque
q
at stall
Rating output
speed
Maximum
theoretical
torque
Rotor inertia
Maximum
theoretical
acceleration
Weight
Note
The above values shown in the maximum theoretical torque
are the theoretical values.
The actual maximum torque is restricted by the current limit
values of the drive amplifier.
156
B65142E/02
3. SPECIFICATIONS AND
CHARACTERISTICS
3.2
CHARACTERISTIC
CURVE AND DATA
SHEET
Speedtorque
characteristics
Overload duty
characteristic
Data sheet
The parameters given in the data sheet are representative values for an
ambient temperature of 20C. They are subject to an error of +10%.
The indicated logical values are threshold values for the single motor unit
(when the motor is not restricted by the control system).
The maximum torque that can be produced during acceleration or
deceleration in actual use is calculated as the approximate product of the
motor torque constant and the current limit value of the amplifier.
Example : C3/2000
Motor torque constant = 1.06 (Nm/Arms)
Amplifier limit value = 20 Apeak
Maximum torque value
= 20 x 0.707 x 1.06
(Converted to an effective value)
= 14.9 Nm (Converted to an effective value)
This value is for reference only. The actual value will vary depending on
changes in the power supply, as well as variations in motor parameters and
amplifier limit values.
In some models, if the maximum current flows in the motor, the actual
maximum torque is affected by, for example, magnetic saturation. As a
result, the actual maximum torque will be lower than the calculated value.
The intermittent operation area (maximum torque value) indicated in the
speed to torque characteristics is the effective value, determined
according to the combination with the amplifier.
157
3.SPECIFICATIONS AND
CHARACTERISTICS
Model C3/2000
B65142E/02
Specification : A06B0121Bjjj
Torque
(Nm)
Duty
(time %)
Intermittent operating
Continuous operating
Speed (1/min)
ON time (min.)
Data sheet
Parameter
Symbol
Nmax
(*)
Value
2000
3. 0
Ts
31
Rotor inertia
Jm
Is
Torque constant
(*)
Kt
(*)
Ke
Unit
min
-1
Nm
kgfcm
0. 0014
kgm2
0. 014
kgfcms2
2. 8
A (rms)
1. 06
Nm/A (rms)
10. 8
kgfcm/A (rms)
37
V/1000min -1
(*)
Kv
0. 35
Vsec/rad
Armature resistance
(*)
Ra
1. 85
(*)
tm
0. 006
tt
Static friction
Tf
Im
45
Tm
Maximum theoretical
acceleration
Weight
min
0. 3
Nm
kgfcm
37
A (peak)
27
Nm
280
kgfcm
20000
rad/s2
kg
(*) The values are the standard values at 20C and the tolerance is 10%.
The speedtorque characteristics very depending on the type of software, parameter
setting, and input voltage of the digital servo motor. (The above figures show average
values.) These values may be changed without prior notice.
158
3. SPECIFICATIONS AND
CHARACTERISTICS
B65142E/02
Model C6/2000
Specification : A06B0126Bjjj
Torque
(Nm)
Duty
(time %)
Intermittent operating
Continuous operating
Speed (1/min)
ON time (min.)
Data sheet
Parameter
Symbol
Nmax
(*)
Value
2000
6. 0
Ts
61
Rotor inertia
Jm
Is
Torque constant
(*)
Kt
(*)
Ke
Unit
min
-1
Nm
kgfcm
0. 0026
kgm2
0. 027
kgfcms2
3. 6
A (rms)
1. 68
Nm/A (rms)
17. 1
kgfcm/A (rms)
59
V/1000min -1
(*)
Kv
0. 56
Vsec/rad
Armature resistance
(*)
Ra
1. 52
(*)
tm
0. 004
tt
Static friction
Tf
Im
50
Tm
Maximum theoretical
acceleration
Weight
min
0. 3
Nm
kgfcm
47
A (peak)
56
Nm
570
kgfcm
21000
rad/s2
13
kg
(*) The values are the standard values at 20C and the tolerance is 10%.
The speedtorque characteristics very depending on the type of software, parameter
setting, and input voltage of the digital servo motor. (The above figures show average
values.) These values may be changed without prior notice.
159
3.SPECIFICATIONS AND
CHARACTERISTICS
Model C12/2000
B65142E/02
Specification : A06B0141Bjjj
Torque
(Nm)
Duty
(time %)
Intermittent operating
Continuous operating
Speed (1/min)
ON time (min.)
Data sheet
Parameter
Symbol
Nmax
(*)
Value
2000
12
Ts
122
Unit
min -1
Nm
kgfcm
0. 0062
kgm2
0. 064
kgfcms2
5. 9
A (rms)
2. 04
Nm/A (rms)
Rotor inertia
Jm
Is
Torque constant
(*)
Kt
(*)
Ke
(*)
Kv
0. 68
Vsec/rad
Armature resistance
(*)
Ra
1. 092
(*)
tm
0. 005
tt
Static friction
Tf
Im
20. 8
kgfcm/A (rms)
71
V/1000min -1
60
Tm
Maximum theoretical
acceleration
Weight
min
0. 8
Nm
kgfcm
46
A (peak)
66
Nm
670
kgfcm
11000
rad/s2
18
kg
(*) The values are the standard values at 20C and the tolerance is 10%.
The speedtorque characteristics very depending on the type of software, parameter
setting, and input voltage of the digital servo motor. (The above figures show average
values.) These values may be changed without prior notice.
160
3. SPECIFICATIONS AND
CHARACTERISTICS
B65142E/02
Model C22/1500
Specification : A06B0145Bjjj
Torque
(Nm)
Duty
(time %)
Intermittent operating
Continuous operating
Speed (1/min)
ON time (min.)
Data sheet
Parameter
Symbol
Nmax
(*)
Ts
Value
1500
min
22
Nm
224
Rotor inertia
Jm
Is
Torque constant
(*)
Kt
(*)
Ke
Unit
-1
kgfcm
0. 012
kgm2
0. 12
kgfcms2
12. 5
1. 76
A (rms)
Nm/A (rms)
18. 0
kgfcm/A (rms)
62
V/1000min -1
(*)
Kv
0. 59
Vsec/rad
Armature resistance
(*)
Ra
0. 315
(*)
tm
0. 004
tt
Static friction
Tf
Im
65
1. 2
12
Tm
Maximum theoretical
acceleration
Weight
min
Nm
kgfcm
105
A (peak)
130
Nm
1400
kgfcm
11000
rad/s2
30
kg
(*) The values are the standard values at 20C and the tolerance is 10%.
The speedtorque characteristics very depending on the type of software, parameter
setting, and input voltage of the digital servo motor. (The above figures show average
values.) These values may be changed without prior notice.
161
3.SPECIFICATIONS AND
CHARACTERISTICS
B65142E/02
3.3
OUTLINE DRAWINGS
Model
Fig. No.
Fig. 3.3(a)
Fig. 3.3(b)
Fig. 3.3(c)
Fig. 3.3(d)
Fig. 3.3(e)
Fig. 3.3(f)
162
B65142E/02
163
3. SPECIFICATIONS AND
CHARACTERISTICS
3.SPECIFICATIONS AND
CHARACTERISTICS
164
B65142E/02
B65142E/02
165
3. SPECIFICATIONS AND
CHARACTERISTICS
3.SPECIFICATIONS AND
CHARACTERISTICS
166
B65142E/02
B65142E/02
3. SPECIFICATIONS AND
CHARACTERISTICS
167
3.SPECIFICATIONS AND
CHARACTERISTICS
168
B65142E/02
B65142E/02
3. SPECIFICATIONS AND
CHARACTERISTICS
3.4
CONNECTION OF
POWER LINE
Models
C3/2000 and C6/2000
Motor
coil
Ground plate
3102A 1810P
Motor body
Models
C/2000 and
C/00
Motor
coil
Ground plate
3102A 2222P
169
Motor body
B65142E/02
1. GENERAL
GENERAL
Excellent acceleration
characteristics
Compact
The use of the latest neodymium ferrite magnet further reduces the size
and weight of the servo motors. This produces a servo motor that is
sufficiently compact to allow its use in small machine tools.
Excellent waterproofing
Extended
continuousoperation
The use of the latest servo software minimizes the heat generated by
highspeed rotation, allowing continuous operation over a wide range.
Smooth rotation
Further improvements have been made to the unique magnetic pole shape
to minimize torque ripple. The result is extremely smooth rotation.
Controllability
The use of the latest servo software maintains controllability even when
a disturbance occurs.
Highperformance
detector
The AC servo motor M series are fitted with incremental pulse coder
I64 or absolute pulse coder A64 as its standard pulse coder.
Powerful brake
173
2.TYPES OF MOTORS
AND DESIGNATION
B65142E/02
Models
M3/3000 M6/3000, and
M9/3000
A06B01jjBl ff
jj
61
62
63
l
0:
1:
5:
6:
ff
75
77
84
: Model M3/3000
: Model M6/3000
: Model M9/3000
Taper shaft (standard)
Taper shaft with the brake (8Nm)
Straight shaft
Straight shaft with the brake (8Nm)
: With the pulse coder A64
: With the pulse coder I64
: With the serial pulse coder A
The standard shafts used for M series are taper shafts. Use a taper shaft
as far as circumstances, such as the delivery time and maintenance,
permit.
174
B65142E/02
3. SPECIFICATIONS AND
CHARACTERISTICS
175
3.SPECIFICATIONS AND
CHARACTERISTICS
B65142E/02
3.1
TYPES OF MOTORS
AND
SPECIFICATIONS
Item
Output
Rated torque at stall
Rating output speed
Maximum theoretical torque
Rotor inertia
Maximum theoretical acceleration
Weight
Unit
M3/3000
M6/3000
M9/3000
kW
0.9
1.4
1.8
HP
1.3
1.9
2.4
Nm
3.0
6.0
9.0
kgfcm
31
61
92
1/min
3000
3000
3000
Nm
31
63
130
kgfcm
320
650
1300
kgm2
0.0007
0.0013
0.0025
kgfcms2
0.008
0.014
0.026
rad/s2
42000
47000
52000
kg
12
Note
The above values shown in the maximum theoretical torque
are the theoretical values.
The actual maximum torque is restricted by the current limit
values of the drive amplifier.
176
B65142E/02
3. SPECIFICATIONS AND
CHARACTERISTICS
3.2
CHARACTERISTIC
CURVE AND DATA
SHEET
Speedtorque
characteristics
Overload duty
characteristic
Data sheet
The parameters given in the data sheet are representative values for an
ambient temperature of 20C. They are subject to an error of +10%.
The indicated logical values are threshold values for the single motor unit
(when the motor is not restricted by the control system).
The maximum torque that can be produced during acceleration or
deceleration in actual use is calculated as the approximate product of the
motor torque constant and the current limit value of the amplifier.
This value is for reference only. The actual value will vary depending on
changes in the power supply, as well as variations in motor parameters and
amplifier limit values.
In some models, if the maximum current flows in the motor, the actual
maximum torque is affected by, for example, magnetic saturation. As a
result, the actual maximum torque will be lower than the calculated value.
The intermittent operation area (maximum torque value) indicated in the
speed to torque characteristics is the effective value, determined
according to the combination with the amplifier.
177
3.SPECIFICATIONS AND
CHARACTERISTICS
Model M3/3000
B65142E/02
Specification : A06B0161Bjjj
Torque
(Nm)
Duty
(time %)
Intermittent operating
Continuous operating
Speed (1/min)
ON time (min.)
Data sheet
Parameter
Symbol
Nmax
(*)
Value
3000
3. 0
Ts
31
Rotor inertia
Jm
Is
Torque constant
(*)
Kt
(*)
Ke
Unit
min
-1
Nm
kgfcm
0. 0007
kgm2
0. 008
kgfcms2
5. 3
A (rms)
0. 57
Nm/A (rms)
5. 8
kgfcm/A (rms)
20
V/1000min -1
(*)
Kv
0. 19
Vsec/rad
Armature resistance
(*)
Ra
0. 695
(*)
tm
0. 005
tt
40
Static friction
Tf
Im
Tm
Maximum theoretical
acceleration
Weight
min
0. 3
Nm
kgfcm
75
A (peak)
31
Nm
320
kgfcm
42000
rad/s2
kg
(*) The values are the standard values at 20C and the tolerance is 10%.
The speedtorque characteristics very depending on the type of software, parameter
setting, and input voltage of the digital servo motor. (The above figures show average
values.) These values may be changed without prior notice.
178
3. SPECIFICATIONS AND
CHARACTERISTICS
B65142E/02
Model M6/3000
Specification : A06B0162Bjjj
Torque
(Nm)
Duty
(time %)
Intermittent operating
Continuous operating
Speed (1/min)
ON time (min.)
Data sheet
Parameter
Symbol
Nmax
(*)
Value
3000
6. 0
Ts
61
Unit
min -1
Nm
kgfcm
0. 0013
kgm2
0. 014
kgfcms2
8. 0
A (rms)
0. 75
Nm/A (rms)
7. 6
kgfcm/A (rms)
Rotor inertia
Jm
Is
Torque constant
(*)
Kt
(*)
Ke
(*)
Kv
0. 25
Vsec/rad
Armature resistance
(*)
Ra
0. 463
(*)
tm
0. 003
tt
Static friction
Tf
Im
26
45
Maximum theoretical
acceleration
Weight
min
0. 3
Nm
kgfcm
120
Tm
V/1000min -1
63
A (peak)
Nm
650
kgfcm
47000
rad/s2
kg
(*) The values are the standard values at 20C and the tolerance is 10%.
The speedtorque characteristics very depending on the type of software, parameter
setting, and input voltage of the digital servo motor. (The above figures show average
values.) These values may be changed without prior notice.
179
3.SPECIFICATIONS AND
CHARACTERISTICS
Model M9/3000
B65142E/02
Specification : A06B0163Bjjj
Torque
(Nm)
Duty
(time %)
Intermittent operating
Continuous operating
Speed (1/min)
ON time (min.)
Data sheet
Parameter
Symbol
Nmax
(*)
Value
3000
9. 0
Ts
Unit
min -1
Nm
92
kgfcm
0. 0025
kgm2
Rotor inertia
Jm
Is
Torque constant
(*)
Kt
(*)
Ke
(*)
Kv
0. 29
Vsec/rad
Armature resistance
(*)
Ra
0. 181
(*)
tm
0. 002
Tf
Im
10. 4
Maximum theoretical
acceleration
Weight
A (rms)
Nm/A (rms)
8. 8
kgfcm/A (rms)
50
Tm
kgfcms2
0. 86
30
tt
Static friction
0. 026
V/1000min -1
min
0. 3
Nm
kgfcm
216
A (peak)
130
Nm
1300
kgfcm
52000
rad/s2
12
kg
(*) The values are the standard values at 20C and the tolerance is 10%.
The speedtorque characteristics very depending on the type of software, parameter
setting, and input voltage of the digital servo motor. (The above figures show average
values.) These values may be changed without prior notice.
180
B65142E/02
3. SPECIFICATIONS AND
CHARACTERISTICS
3.3
OUTLINE DRAWINGS
Model
Fig. No.
181
3.SPECIFICATIONS AND
CHARACTERISTICS
B65142E/02
Serial A
182
B65142E/02
3. SPECIFICATIONS AND
CHARACTERISTICS
Serial A
183
3.SPECIFICATIONS AND
CHARACTERISTICS
184
B65142E/02
B65142E/02
185
3. SPECIFICATIONS AND
CHARACTERISTICS
3.SPECIFICATIONS AND
CHARACTERISTICS
B65142E/02
3.4
CONNECTION OF
POWER LINE
Models
M3/3000, M6/3000,
and M9/3000
Motor
coil
B
C
Ground plate
D
3102A 1810P
186
Motor body
B65142E/02
1. GENERAL
GENERAL
Excellent acceleration
characteristics
The latest neodymium ferrite magnet is employed, and the rotor inertia
is minimized. The result is a motor that offers excellent acceleration.
Excellent waterproofing
Extended
continuousoperation
The use of the latest servo software minimizes the heat generated by
highspeed rotation, allowing continuous operation over a wide range.
Smooth rotation
Further improvements have been made to the unique magnetic pole shape
to minimize torque ripple. The result is extremely smooth rotation.
Controllability
The use of the latest servo software maintains controllability even when
a disturbance occurs.
Highperformance
detector
The AC servo motor L series are fitted with incremental pulse coder
I64 or absolute pulse coder A64 as its standard pulse coder.
Powerful brake
189
2.TYPES OF MOTORS
AND DESIGNATION
B65142E/02
Models
L3/3000 L6/3000, and
L9/3000
Models
L25/3000
L50/2000
A06B05jjBl ff
jj
61
62
64
l
0:
1:
ff
75
77
84
: Model L3/3000
: Model L6/3000
: Model L9/3000
Taper shaft (standard)
Taper shaft with the brake (8Nm)
: With the pulse coder A64
: With the pulse coder I64
: With the serial pulse coder A
A06B05jjBl ff
jj
71
72
l
0:
2:
3:
ff
75
77
84
: Model L25/3000
: Model L50/2000
Taper shaft (standard)
Taper shaft with the brake (18Nm)
Taper shaft with the brake (40Nm)
: With the pulse coder A64
: With the pulse coder I64
: With the serial pulse coder A
190
B65142E/02
3. SPECIFICATIONS AND
CHARACTERISTICS
191
3.SPECIFICATIONS AND
CHARACTERISTICS
B65142E/02
3.1
TYPES OF MOTORS
AND
SPECIFICATIONS
Item
Output
Rated torque at stall
Rating output speed
Maximum theoretical torque
Rotor inertia
Maximum theoretical acceleration
Weight
Item
Output
Rated torque at stall
Rating output speed
Maximum theoretical torque
Rotor inertia
Maximum theoretical acceleration
Weight
Unit
L3/3000
L6/3000
L9/3000
kW
0.9
1.4
2.0
HP
1.2
1.8
2.7
Nm
3.0
6.0
9.0
kgfcm
31
61
92
1/min
3000
3000
3000
Nm
12
24
47
kgfcm
120
240
480
kgm2
0.00025
0.00049
0.00098
kgfcms2
0.0025
0.0050
0.010
rad/s2
48000
48000
48000
kg
11
17
Unit
L25/3000
L50/2000
kW
3.5
6.0
HP
4.7
8.0
Nm
25
50
kgfcm
255
510
1/min
3000
2000
Nm
74
150
kgfcm
750
1500
kgm2
0.0054
0.0098
kgfcms2
0.055
0.10
rad/s2
14000
15000
kg
25
42
Note
The above values shown in the maximum theoretical torque
are the theoretical values.
The actual maximum torque is restricted by the current limit
values of the drive amplifier.
192
B65142E/02
3. SPECIFICATIONS AND
CHARACTERISTICS
3.2
CHARACTERISTIC
CURVE AND DATA
SHEET
Speedtorque
characteristics
Overload duty
characteristic
Data sheet
The parameters given in the data sheet are representative values for an
ambient temperature of 20C. They are subject to an error of +10%.
The indicated logical values are threshold values for the single motor unit
(when the motor is not restricted by the control system).
The maximum torque that can be produced during acceleration or
deceleration in actual use is calculated as the approximate product of the
motor torque constant and the current limit value of the amplifier.
This value is for reference only. The actual value will vary depending on
changes in the power supply, as well as variations in motor parameters and
amplifier limit values.
In some models, if the maximum current flows in the motor, the actual
maximum torque is affected by, for example, magnetic saturation. As a
result, the actual maximum torque will be lower than the calculated value.
The intermittent operation area (maximum torque value) indicated in the
speed to torque characteristics is the effective value, determined
according to the combination with the amplifier.
193
3.SPECIFICATIONS AND
CHARACTERISTICS
Model L3/3000
B65142E/02
Specification : A06B0561Bjjj
Torque
(Nm)
Duty
(time %)
Intermittent operating
Continuous operating
Speed (1/min)
ON time (min.)
Data sheet
Parameter
Symbol
Nmax
(*)
Value
3000
3. 0
Ts
31
Rotor inertia
Jm
Is
Torque constant
(*)
Kt
(*)
Ke
Unit
min
-1
Nm
kgfcm
0. 00025
kgm2
0. 0025
kgfcms2
5. 8
A (rms)
0. 51
Nm/A (rms)
5. 2
kgfcm/A (rms)
18
V/1000min -1
(*)
Kv
0. 17
Vsec/rad
Armature resistance
(*)
Ra
0. 810
(*)
tm
0. 002
tt
15
Static friction
Tf
Im
Tm
Maximum theoretical
acceleration
Weight
min
0. 3
Nm
kgfcm
55
A (peak)
11.8
Nm
120
kgfcm
48000
rad/s2
kg
(*) The values are the standard values at 20C and the tolerance is 10%.
The speedtorque characteristics very depending on the type of software, parameter
setting, and input voltage of the digital servo motor. (The above figures show average
values.) These values may be changed without prior notice.
194
3. SPECIFICATIONS AND
CHARACTERISTICS
B65142E/02
Model L6/3000
Specification : A06B0562Bjjj
Torque
(Nm)
Duty
(time %)
Intermittent operating
Continuous operating
Speed (1/min)
ON time (min.)
Data sheet
Parameter
Symbol
Nmax
(*)
Value
3000
6. 0
Ts
61
Unit
min -1
Nm
kgfcm
0. 00049
kgm2
0. 0050
kgfcms2
11. 4
A (rms)
0. 52
Nm/A (rms)
5. 3
kgfcm/A (rms)
Rotor inertia
Jm
Is
Torque constant
(*)
Kt
(*)
Ke
(*)
Kv
0. 17
Vsec/rad
Armature resistance
(*)
Ra
0. 275
(*)
tm
0. 001
tt
Static friction
Tf
Im
18
20
Tm
Maximum theoretical
acceleration
Weight
V/1000min -1
min
0. 5
Nm
kgfcm
80
A (peak)
23. 5
Nm
240
kgfcm
48000
rad/s2
11
kg
(*) The values are the standard values at 20C and the tolerance is 10%.
The speedtorque characteristics very depending on the type of software, parameter
setting, and input voltage of the digital servo motor. (The above figures show average
values.) These values may be changed without prior notice.
195
3.SPECIFICATIONS AND
CHARACTERISTICS
Model L9/3000
B65142E/02
Specification : A06B0564Bjjj
Torque
(Nm)
Duty
(time %)
Intermittent operating
Continuous operating
Speed (1/min)
ON time (min.)
Data sheet
Parameter
Symbol
Nmax
(*)
Value
3000
9. 0
Ts
Unit
min -1
Nm
92
kgfcm
0. 00098
kgm2
0. 010
kgfcms2
16. 9
A (rms)
Rotor inertia
Jm
Is
Torque constant
(*)
Kt
(*)
Ke
(*)
Kv
0. 17
Vsec/rad
Armature resistance
(*)
Ra
0. 110
(*)
tm
0. 001
Tf
Im
Nm/A (rms)
5. 3
kgfcm/A (rms)
18
tt
Static friction
0. 52
25
Maximum theoretical
acceleration
Weight
min
0. 9
Nm
kgfcm
140
Tm
V/1000min -1
47. 0
A (peak)
Nm
480
kgfcm
48000
rad/s2
17
kg
(*) The values are the standard values at 20C and the tolerance is 10%.
The speedtorque characteristics very depending on the type of software, parameter
setting, and input voltage of the digital servo motor. (The above figures show average
values.) These values may be changed without prior notice.
196
3. SPECIFICATIONS AND
CHARACTERISTICS
B65142E/02
Model L25/3000
Specification : A06B0571Bjjj
Torque
(Nm)
Duty
(time %)
Intermittent operating
Continuous operating
Speed (1/min)
ON time (min.)
Data sheet
Parameter
Symbol
Nmax
(*)
Value
3000
25
Ts
255
Unit
min -1
Nm
kgfcm
0. 0054
kgm2
0. 055
kgfcms2
Rotor inertia
Jm
Is
Torque constant
(*)
Kt
(*)
Ke
(*)
Kv
0. 22
Vsec/rad
Armature resistance
(*)
Ra
0. 049
(*)
tm
0. 001
Tf
Im
Nm/A (rms)
6. 8
kgfcm/A (rms)
30
1. 2
12
200
Tm
Maximum theoretical
acceleration
Weight
A (rms)
0. 66
23
tt
Static friction
37
V/1000min -1
min
Nm
kgfcm
A (peak)
74
Nm
750
kgfcm
13600
rad/s2
25
kg
(*) The values are the standard values at 20C and the tolerance is 10%.
The speedtorque characteristics very depending on the type of software, parameter
setting, and input voltage of the digital servo motor. (The above figures show average
values.) These values may be changed without prior notice.
197
3.SPECIFICATIONS AND
CHARACTERISTICS
Model L50/2000
B65142E/02
Specification : A06B0572Bjjj
Torque
(Nm)
Duty
(time %)
Intermittent operating
Continuous operating
Speed (1/min)
ON time (min.)
Data sheet
Parameter
Symbol
Nmax
(*)
Value
2000
50
Ts
510
Unit
min -1
Nm
kgfcm
0. 0098
kgm2
0. 10
kgfcms2
Rotor inertia
Jm
Is
Torque constant
(*)
Kt
(*)
Ke
(*)
Kv
0. 32
Vsec/rad
Armature resistance
(*)
Ra
0. 038
(*)
tm
0. 001
Tf
Im
Nm/A (rms)
9. 8
kgfcm/A (rms)
35
1. 8
18
Tm
Maximum theoretical
acceleration
Weight
A (rms)
0. 96
33
tt
Static friction
51
V/1000min -1
min
Nm
kgfcm
280
A (peak)
147
Nm
1500
kgfcm
15000
rad/s2
42
kg
(*) The values are the standard values at 20C and the tolerance is 10%.
The speedtorque characteristics very depending on the type of software, parameter
setting, and input voltage of the digital servo motor. (The above figures show average
values.) These values may be changed without prior notice.
198
B65142E/02
3. SPECIFICATIONS AND
CHARACTERISTICS
3.3
OUTLINE DRAWINGS
Model
Fig. No.
199
3.SPECIFICATIONS AND
CHARACTERISTICS
Serial A
200
B65142E/02
B65142E/02
3. SPECIFICATIONS AND
CHARACTERISTICS
Serial A
201
3.SPECIFICATIONS AND
CHARACTERISTICS
Serial A
202
B65142E/02
B65142E/02
3. SPECIFICATIONS AND
CHARACTERISTICS
Serial A
203
3.SPECIFICATIONS AND
CHARACTERISTICS
B65142E/02
3.4
CONNECTION OF
POWER LINE
Models
L3/3000, L6/3000,
and L9/3000
Motor
coil
B
C
Ground plate
D
3102A 1810P
Models
L25/3000 and
L50/2000
Motor body
Motor
coil
B
C
D
E
F
Ground plate
G
3102A 2410P
204
Motor body
INDEX
B65142E/02
Number
1,000,000 divisions/revolution, 59
65,536 divisions/revolution, 59
CNC equipment, 35
8,192 divisions/revolution, 59
a
series, 3
Connection diagram, 81
(HV) series, 3
C series, 3
L series, 3
Connectors, 71
M series, 3
A
Counter balance, 36
Coupling, 9
D
Data, 35
Ambient temperature, 12
Applicable amplifiers, 5
Applicable motors, 49
Approved specifications, 55
Dripproof environment, 12
Axis load, 11
Drives, 51
Dynamic brake stop distance, 41
B
E
Backlash amount, 38
Environment, 12
F
Brake specifications, 67
Builtin brake, 66
Feed screw, 36
Builtin detector, 58
Feedback detector, 57
G
C
Gears, 18
H
i1
INDEX
I
B65142E/02
In linear acceleration/deceleration, 27
Inertia, 36
Input multiply ratio, command multiply ratio, and flexible feed gear ratio, 39
Installation, 8
Installation height, 12
Instructions, 16
K
L
Load torque, 36
M
Model 1/3000, 98
Model 2/2000, 99
Model 2/3000, 99
i2
INDEX
B65142E/02
S
Selecting a motor, 21
Specifications, 41
Motor selection, 35
N
Names of axes, 35
O
Stick slip, 34
T
P
Timing belt, 19
Total gear ratio, 36
Performance curves, 45
Transformer, 41
Type of amplifier, 41
Precautions on use, 4
V
R
Rapid traverse positioning frequency, 37
W
i3
Mar., 95
Mar., 94
Date
02
01
dition
Contents
________________________________________
Edition
Date
Revision Record
Contents